1/*
2 * dx_hand_model.cpp
3 *
4 * Academic License - for use in teaching, academic research, and meeting
5 * course requirements at degree granting institutions only. Not for
6 * government, commercial, or other organizational use.
7 *
8 * Code generation for model "dx_hand_model".
9 *
10 * Model version : 1.2142
11 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
12 * C++ source code generated on : Wed Mar 14 12:59:00 2018
13 *
14 * Target selection: ert.tlc
15 * Note: GRT includes extra infrastructure and instrumentation for prototyping
16 * Embedded hardware selection: Generic->Unspecified (assume 32-bit Generic)
17 * Code generation objectives: Unspecified
18 * Validation result: Not run
19 */
20
21#include "dx_hand_model.h"
22#include "dx_hand_model_private.h"
23#define ParameterInitia_kfaixs2xtfargwk (3.0)
24#define ParameterInitialV_kfaixs2xtfarg (23.4)
25#define ParameterInitialVa_kfaixs2xtfar (44.8)
26#define ParameterInitialVal_kfaixs2xtfa (8.0)
27#define ParameterInitialValu_kfaixs2xtf (754.0)
28#define ParameterInitialValue_kfaixs2x (1.2)
29#define ParameterInitialValue_kfaixs2xt (0.2)
30#define ParameterInitial_kfaixs2xtfargw (10.0)
31#define d_ParameterInitia_c (3.5)
32#define d_ParameterInitia_d (529.0)
33#define d_ParameterInitia_g (381.0)
34#define d_ParameterInitia_k (30.0)
35#define d_ParameterInitia_k5 (50.0)
36#define d_ParameterInitia_kh (-32.0)
37#define d_ParameterInitia_l (579.0)
38#define d_ParameterInitia_m (576.0)
39#define d_ParameterInitia_o (517.0)
40#define d_ParameterInitia_op (-10.0)
41#define d_ParameterInitia_or (0.5)
42#define d_ParameterInitia_p (5.0)
43#define d_ParameterInitialValue_kfaixs2 (20.0)
44#define dx_ParameterInitialValue_kfaixs (44.0)
45#define dx__ParameterInitialValue_kfaix (8.5)
46#define dx_h_ParameterInitialValue_kfai (483.0)
47#define dx_ha_ParameterInitialValue_kfa (-1.0)
48#define dx_han_ParameterInitialValue_kf (-15.0)
49#define dx_hand_ParameterInitialValue_k (1.0)
50#define dx_hand_m_ParameterInitialValue (0.0)
51#define dx_hand_model_MessageQueueLen (1)
52
53/* Block signals (auto storage) */
54B_dx_hand_model_T dx_hand_model_B;
55
56/* Block states (auto storage) */
57DW_dx_hand_model_T dx_hand_model_DW;
58
59/* Real-time model */
60RT_MODEL_dx_hand_model_T dx_hand_model_M_;
61RT_MODEL_dx_hand_model_T *const dx_hand_model_M = &dx_hand_model_M_;
62
63/* Forward declaration for local functions */
64static void dx_hand_model_sqrt(creal32_T *x);
65static real32_T dx_hand_model_rescale(real32_T *re, real32_T *im);
66static real32_T dx_hand_model_my_acos(real32_T x,
67 B_MiddleDirectKinematics_dx_h_T *localB);
68
69/* Forward declaration for local functions */
70static real32_T dx_hand_model_rt_hypotf_snf(real32_T u0, real32_T u1);
71static void dx_hand_model_sqrt_k(creal32_T *x);
72static real32_T dx_hand_model_rescale_b(real32_T *re, real32_T *im);
73static real32_T dx_hand_model_rt_atan2f_snf(real32_T u0, real32_T u1);
74static real32_T dx_hand_model_my_acos_e(real32_T x);
75static void dx_hand_model_sqrt_kq(creal32_T *x);
76static real32_T dx_hand_model_rescale_e(real32_T *re, real32_T *im);
77static void dx_hand_model_acos(creal32_T *x);
78static void dx_hand_model_sqrt_l(creal32_T *x);
79static void dx_hand_model_sqrt_e(creal32_T *x);
80static creal_T dx_hand_model_my_sqrt(real_T x);
81static real_T dx_hand_model_rt_atan2d_snf(real_T u0, real_T u1);
82static void dx_hand_model_atan(creal_T x[2]);
83static void dx_hand_model_sqrt_c(creal32_T *x);
84static real32_T dx_hand_model_rescale_g(real32_T *re, real32_T *im);
85static void rate_monotonic_scheduler(void);
86
87/*
88 * Writes out MAT-file header. Returns success or failure.
89 * Returns:
90 * 0 - success
91 * 1 - failure
92 */
93int_T rt_WriteMat4FileHeader(FILE *fp, int32_T m, int32_T n, const char *name)
94{
95 typedef enum { ELITTLE_ENDIAN, EBIG_ENDIAN } ByteOrder;
96
97 int16_T one = 1;
98 ByteOrder byteOrder = (*((int8_T *)&one)==1) ? ELITTLE_ENDIAN : EBIG_ENDIAN;
99 int32_T type = (byteOrder == ELITTLE_ENDIAN) ? 0: 1000;
100 int32_T imagf = 0;
101 int32_T name_len = (int32_T)strlen(name) + 1;
102 if ((fwrite(&type, sizeof(int32_T), 1, fp) == 0) ||
103 (fwrite(&m, sizeof(int32_T), 1, fp) == 0) ||
104 (fwrite(&n, sizeof(int32_T), 1, fp) == 0) ||
105 (fwrite(&imagf, sizeof(int32_T), 1, fp) == 0) ||
106 (fwrite(&name_len, sizeof(int32_T), 1, fp) == 0) ||
107 (fwrite(name, sizeof(char), name_len, fp) == 0)) {
108 return(1);
109 } else {
110 return(0);
111 }
112} /* end rt_WriteMat4FileHeader */
113
114/*
115 * Set which subrates need to run this base step (base rate always runs).
116 * This function must be called prior to calling the model step function
117 * in order to "remember" which rates need to run this base step. The
118 * buffering of events allows for overlapping preemption.
119 */
120void dx_hand_model_SetEventsForThisBaseStep(boolean_T *eventFlags)
121{
122 /* Task runs when its counter is zero, computed via rtmStepTask macro */
123 eventFlags[1] = ((boolean_T)rtmStepTask(dx_hand_model_M, 1));
124}
125
126/*
127 * This function updates active task flag for each subrate
128 * and rate transition flags for tasks that exchange data.
129 * The function assumes rate-monotonic multitasking scheduler.
130 * The function must be called at model base rate so that
131 * the generated code self-manages all its subrates and rate
132 * transition flags.
133 */
134static void rate_monotonic_scheduler(void)
135{
136 /* To ensure a deterministic data transfer between two rates,
137 * data is transferred at the priority of a fast task and the frequency
138 * of the slow task. The following flags indicate when the data transfer
139 * happens. That is, a rate interaction flag is set true when both rates
140 * will run, and false otherwise.
141 */
142
143 /* tid 0 shares data with slower tid rate: 1 */
144 dx_hand_model_M->Timing.RateInteraction.TID0_1 =
145 (dx_hand_model_M->Timing.TaskCounters.TID[1] == 0);
146
147 /* Compute which subrates run during the next base time step. Subrates
148 * are an integer multiple of the base rate counter. Therefore, the subtask
149 * counter is reset when it reaches its limit (zero means run).
150 */
151 (dx_hand_model_M->Timing.TaskCounters.TID[1])++;
152 if ((dx_hand_model_M->Timing.TaskCounters.TID[1]) > 199) {/* Sample time: [2.0s, 0.0s] */
153 dx_hand_model_M->Timing.TaskCounters.TID[1] = 0;
154 }
155}
156
157/*
158 * Output and update for atomic system:
159 * '<S35>/Optimized_Static_Problem'
160 * '<S82>/Optimized_Static_Problem'
161 * '<S129>/Optimized_Static_Problem'
162 * '<S174>/Optimized_Static_Problem'
163 */
164void dx_Optimized_Static_Problem(const real32_T rtu_Jcomponents[4], real32_T
165 rtu_force_vector, real32_T rtu_force_vector_o, B_Optimized_Static_Problem_dx_T
166 *localB)
167{
168 real32_T y;
169 real32_T y_tmp;
170 y = 1.0F / (rtu_Jcomponents[1] * rtu_Jcomponents[1] + rtu_Jcomponents[3] *
171 rtu_Jcomponents[3]);
172 y_tmp = rtu_Jcomponents[1] * y;
173 y *= rtu_Jcomponents[3];
174
175 /* SignalConversion: '<S43>/TmpSignal ConversionAt SFunction Inport2' */
176 localB->y = ((1.0F - y_tmp * rtu_Jcomponents[1]) * rtu_Jcomponents[0] + (0.0F
177 - y * rtu_Jcomponents[1]) * rtu_Jcomponents[2]) * rtu_force_vector + ((0.0F
178 - y_tmp * rtu_Jcomponents[3]) * rtu_Jcomponents[0] + (1.0F - y *
179 rtu_Jcomponents[3]) * rtu_Jcomponents[2]) * rtu_force_vector_o;
180}
181
182/*
183 * Output and update for atomic system:
184 * '<S38>/Classic_Static_Problem'
185 * '<S83>/Classic_Static_Problem'
186 * '<S130>/Classic_Static_Problem'
187 * '<S175>/Classic_Static_Problem'
188 */
189void dx_h_Classic_Static_Problem(const real32_T rtu_Jcomponents[4], const
190 real32_T rtu_operational_space[2], B_Classic_Static_Problem_dx_h_T *localB)
191{
192 localB->rate = rtu_Jcomponents[0] * rtu_operational_space[0] +
193 rtu_Jcomponents[2] * rtu_operational_space[1];
194}
195
196/*
197 * Output and update for atomic system:
198 * '<S38>/Optimized_Static_Problem'
199 * '<S83>/Optimized_Static_Problem'
200 * '<S130>/Optimized_Static_Problem'
201 * '<S175>/Optimized_Static_Problem'
202 */
203void Optimized_Static_Problem_e(const real32_T rtu_Jcomponents[4], const
204 real32_T rtu_force_vector[2], B_Optimized_Static_Problem_l_T *localB)
205{
206 real32_T y;
207 real32_T y_tmp;
208 y = 1.0F / (rtu_Jcomponents[1] * rtu_Jcomponents[1] + rtu_Jcomponents[3] *
209 rtu_Jcomponents[3]);
210 y_tmp = rtu_Jcomponents[1] * y;
211 y *= rtu_Jcomponents[3];
212 localB->y = ((1.0F - y_tmp * rtu_Jcomponents[1]) * rtu_Jcomponents[0] + (0.0F
213 - y * rtu_Jcomponents[1]) * rtu_Jcomponents[2]) * rtu_force_vector[0] +
214 ((0.0F - y_tmp * rtu_Jcomponents[3]) * rtu_Jcomponents[0] + (1.0F - y *
215 rtu_Jcomponents[3]) * rtu_Jcomponents[2]) * rtu_force_vector[1];
216}
217
218/*
219 * Output and update for atomic system:
220 * '<S80>/Middle Jacobian'
221 * '<S127>/Pinky Jacobian'
222 * '<S172>/Ring Jacobian'
223 */
224void dx_hand_mode_MiddleJacobian(const real32_T rtu_pose[8], real32_T rtu_sensor,
225 real32_T rtu_sensor_f, const real32_T rtu_measurements[18], const real32_T
226 rtu_q_pr[2], real32_T rtu_J22_old, B_MiddleJacobian_dx_hand_mode_T *localB)
227{
228 real32_T J22_c_tmp_tmp;
229 real32_T a_tmp_tmp;
230 real32_T J22_c_tmp;
231 real32_T J22_c_tmp_0;
232 real32_T J22_c_tmp_1;
233 real32_T J22_c_tmp_2;
234 real32_T J22_c_tmp_tmp_0;
235 real32_T a_tmp_tmp_tmp;
236 real32_T J22_c_tmp_3;
237 real32_T a_tmp_tmp_tmp_tmp;
238 real32_T J22_c_tmp_4;
239 real32_T a_tmp_tmp_tmp_tmp_0;
240 real32_T J22_c_tmp_tmp_tmp;
241 real32_T J22_c_tmp_5;
242 real32_T a_tmp_tmp_0;
243 real32_T a_tmp_tmp_1;
244 localB->x_tmp = (real32_T)sin((real_T)rtu_pose[5]);
245
246 /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */
247 localB->a_tmp = rtu_sensor_f - rtu_pose[2];
248 localB->a_tmp_m = (real32_T)sin((real_T)rtu_pose[2]);
249 localB->a_tmp_c = (real32_T)cos((real_T)localB->a_tmp);
250
251 /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */
252 localB->a_tmp_k = rtu_sensor_f - rtu_pose[3];
253 localB->a_tmp_tmp_p = localB->a_tmp_k - rtu_pose[2];
254 localB->a_tmp_cx = (real32_T)cos((real_T)localB->a_tmp_tmp_p);
255 localB->a_tmp_b = (real32_T)cos((real_T)rtu_pose[2]);
256 localB->a_tmp_tmp = (real32_T)sin((real_T)localB->a_tmp);
257 localB->a_tmp = localB->a_tmp_tmp * rtu_measurements[5];
258 localB->a_tmp_cv = (real32_T)sin((real_T)localB->a_tmp_tmp_p);
259 localB->a_tmp_f = rtu_pose[4] - rtu_pose[2];
260 localB->J22_c = localB->a_tmp_cv * rtu_measurements[7];
261 localB->a_tmp_g = localB->a_tmp_cx * rtu_measurements[7];
262 localB->a_tmp_g1 = rtu_pose[0] + rtu_pose[1];
263 localB->a_tmp_me = localB->a_tmp_c * rtu_measurements[6];
264 localB->a_tmp_n = localB->a_tmp_cv * rtu_measurements[12];
265 localB->a_tmp_p = (real32_T)cos((real_T)localB->a_tmp_g1);
266 localB->a_tmp_l = localB->a_tmp_c * rtu_measurements[13];
267 localB->a_tmp_j = localB->a_tmp_tmp * rtu_measurements[6];
268 localB->a_tmp_d = localB->a_tmp_cx * rtu_measurements[12];
269 localB->a_tmp_g1 = (real32_T)sin((real_T)localB->a_tmp_g1);
270 localB->a_tmp_k = (real32_T)cos((real_T)(localB->a_tmp_k - rtu_pose[4]));
271 localB->a_tmp_gu = rtu_measurements[7] + rtu_measurements[8];
272 localB->a_tmp_tmp_p = localB->a_tmp_cv * rtu_measurements[8];
273 localB->a_tmp_tmp_l = (real32_T)sin((real_T)localB->a_tmp_f);
274 a_tmp_tmp_tmp_tmp = localB->J22_c + localB->a_tmp_d;
275 localB->a_tmp_tmp_tmp = a_tmp_tmp_tmp_tmp * localB->a_tmp_g1;
276 localB->a_tmp_tmp_tmp_d = localB->a_tmp_g - localB->a_tmp_n;
277 localB->a_tmp_tmp_d = localB->a_tmp_tmp_tmp + localB->a_tmp_tmp_tmp_d *
278 localB->a_tmp_p;
279 localB->a_tmp_tmp_dy = localB->a_tmp_c * rtu_measurements[5];
280 localB->a_tmp_tmp_lx = localB->a_tmp_tmp * rtu_measurements[13];
281 localB->a_tmp_tmp_o = (real32_T)cos((real_T)rtu_pose[0]);
282 a_tmp_tmp_tmp_tmp_0 = rtu_measurements[14] * localB->a_tmp_m;
283 a_tmp_tmp_tmp = a_tmp_tmp_tmp_tmp_0 - localB->a_tmp;
284 localB->a_tmp_tmp_b = a_tmp_tmp_tmp - localB->a_tmp_l;
285 localB->a_tmp_tmp_n = ((localB->a_tmp_l - localB->a_tmp_j) - localB->J22_c) -
286 localB->a_tmp_d;
287 localB->a_tmp_tmp_bs = localB->a_tmp_cx * rtu_measurements[8];
288 localB->a_tmp_f = (real32_T)cos((real_T)localB->a_tmp_f);
289 localB->a_tmp_tmp_ln = ((localB->a_tmp_me + localB->a_tmp_tmp_lx) +
290 localB->a_tmp_g) - localB->a_tmp_n;
291 localB->a_tmp_tmp_tmp_b = ((((rtu_measurements[10] * localB->a_tmp_b -
292 rtu_measurements[9] * localB->a_tmp_m) - localB->a_tmp) - localB->a_tmp_j) -
293 localB->J22_c) - localB->a_tmp_tmp_p;
294 localB->a_tmp_tmp_tmp_e = ((((rtu_measurements[9] * localB->a_tmp_b +
295 rtu_measurements[10] * localB->a_tmp_m) - localB->a_tmp_tmp_dy) -
296 localB->a_tmp_me) - localB->a_tmp_g) - localB->a_tmp_tmp_bs;
297 localB->a_tmp_tmp_h = localB->a_tmp_tmp_tmp_e * localB->a_tmp_f +
298 localB->a_tmp_tmp_tmp_b * localB->a_tmp_tmp_l;
299 localB->a_tmp_n = (real32_T)sin((real_T)rtu_pose[1]);
300 a_tmp_tmp = localB->a_tmp_gu * localB->a_tmp_n * localB->a_tmp_k;
301 a_tmp_tmp_0 = localB->a_tmp_tmp_b * a_tmp_tmp;
302 a_tmp_tmp_1 = (localB->a_tmp_tmp_h * localB->a_tmp_tmp_d +
303 (localB->a_tmp_tmp_ln * localB->a_tmp_p - localB->a_tmp_tmp_n *
304 localB->a_tmp_g1) * (localB->a_tmp_k * localB->a_tmp_gu)) *
305 localB->a_tmp_tmp_o;
306 localB->a_tmp_m = a_tmp_tmp_0 - a_tmp_tmp_1;
307 localB->J22_c_tmp_tmp = (real32_T)sin((real_T)rtu_pose[0]);
308 J22_c_tmp_tmp_tmp = rtu_measurements[14] * localB->a_tmp_b;
309 J22_c_tmp_tmp = (localB->a_tmp_tmp_dy + J22_c_tmp_tmp_tmp) -
310 localB->a_tmp_tmp_lx;
311 localB->a_tmp_b = J22_c_tmp_tmp * localB->a_tmp_tmp_o - localB->a_tmp_tmp_b *
312 localB->J22_c_tmp_tmp;
313 J22_c_tmp_tmp_0 = localB->a_tmp_gu * localB->a_tmp_g1 * localB->a_tmp_k;
314 localB->J22_c_tmp = localB->a_tmp_tmp_n * J22_c_tmp_tmp_0;
315 J22_c_tmp = (rtu_measurements[0] + 13.5F) * localB->a_tmp_tmp_o;
316 J22_c_tmp_0 = rtu_measurements[1] - rtu_pose[6];
317 J22_c_tmp_1 = J22_c_tmp - rtu_pose[6] * localB->J22_c_tmp_tmp;
318 J22_c_tmp_2 = (rtu_measurements[0] + 13.5F) * localB->J22_c_tmp_tmp;
319 localB->a_tmp_cx = (localB->a_tmp_tmp_tmp_b * localB->a_tmp_tmp_tmp_d +
320 localB->a_tmp_tmp_ln * (localB->a_tmp_cv *
321 localB->a_tmp_gu)) * localB->a_tmp_tmp_l + (localB->a_tmp_tmp_tmp_e *
322 (localB->a_tmp_tmp_tmp_d * localB->a_tmp_f) + localB->a_tmp_tmp_ln *
323 (localB->a_tmp_gu * localB->a_tmp_f * localB->a_tmp_cx));
324 localB->a_tmp_tmp_tmp = (localB->J22_c_tmp - localB->a_tmp_tmp_h *
325 localB->a_tmp_tmp_tmp) - localB->a_tmp_cx * localB->a_tmp_p;
326 J22_c_tmp += J22_c_tmp_0 * localB->J22_c_tmp_tmp;
327 localB->a_tmp_cv = localB->a_tmp_gu * localB->a_tmp_p * localB->a_tmp_k;
328 J22_c_tmp_0 = J22_c_tmp_2 - J22_c_tmp_0 * localB->a_tmp_tmp_o;
329 localB->a_tmp_tmp_tmp_d = localB->a_tmp_tmp_tmp * localB->J22_c_tmp_tmp +
330 J22_c_tmp_tmp * a_tmp_tmp;
331 J22_c_tmp_2 += rtu_pose[6] * localB->a_tmp_tmp_o;
332 J22_c_tmp_3 = localB->a_tmp_gu * localB->J22_c_tmp_tmp;
333 localB->a_tmp_tmp_tmp_b = localB->a_tmp_g1 * localB->a_tmp_tmp_o;
334 J22_c_tmp_4 = localB->a_tmp_p * localB->a_tmp_tmp_o;
335 localB->a_tmp_tmp_tmp_e = (real32_T)cos((real_T)rtu_pose[5]);
336 J22_c_tmp_5 = localB->a_tmp_gu * rtu_pose[7] * localB->a_tmp_k;
337 localB->a_tmp_tmp_tmp = J22_c_tmp_3 * localB->a_tmp_n * localB->a_tmp_k *
338 J22_c_tmp_1 * localB->a_tmp_tmp_b - (localB->a_tmp_m * J22_c_tmp_2 -
339 localB->a_tmp_tmp_tmp * (J22_c_tmp_1 * localB->J22_c_tmp_tmp)) *
340 localB->a_tmp_tmp_o;
341 J22_c_tmp_2 += (((localB->a_tmp_b * J22_c_tmp_5 + localB->a_tmp_b *
342 (J22_c_tmp_tmp_0 * J22_c_tmp)) - localB->a_tmp_b *
343 (localB->a_tmp_cv * J22_c_tmp_0)) - localB->a_tmp_tmp_tmp_d *
344 J22_c_tmp_1) / localB->a_tmp_m;
345 J22_c_tmp_tmp = (real32_T)tan((real_T)rtu_pose[5]);
346 J22_c_tmp_tmp_0 = localB->a_tmp_tmp * rtu_measurements[4];
347 localB->a_tmp_tmp = (J22_c_tmp_tmp_0 + a_tmp_tmp_tmp_tmp_0) -
348 (J22_c_tmp_tmp_tmp - localB->a_tmp_c * rtu_measurements[4]) * J22_c_tmp_tmp;
349 localB->a_tmp_tmp_p += (localB->a_tmp + localB->a_tmp_j) + localB->J22_c;
350 a_tmp_tmp_tmp_tmp_0 = localB->a_tmp_gu * localB->a_tmp_tmp_o;
351 J22_c_tmp_tmp_tmp = a_tmp_tmp_tmp_tmp_0 * localB->a_tmp_g1 * localB->a_tmp_k;
352 localB->a_tmp_g = ((localB->a_tmp_tmp_dy + localB->a_tmp_me) + localB->a_tmp_g)
353 + localB->a_tmp_tmp_bs;
354 localB->a_tmp += localB->a_tmp_l;
355 J22_c_tmp_3 = (((((a_tmp_tmp_tmp - localB->a_tmp_j) - localB->J22_c) -
356 localB->a_tmp_d) * J22_c_tmp_tmp_tmp - J22_c_tmp_3 *
357 localB->a_tmp_p * localB->a_tmp_k * localB->a_tmp_tmp_b) -
358 localB->a_tmp_tmp_h * (a_tmp_tmp_tmp_tmp *
359 localB->a_tmp_tmp_tmp_b)) - localB->a_tmp_cx * J22_c_tmp_4;
360 J22_c_tmp_5 = localB->a_tmp_tmp_tmp * (localB->a_tmp_tmp * J22_c_tmp_5);
361 localB->J22_c_tmp = ((((localB->a_tmp_tmp_p * localB->a_tmp_tmp_l *
362 localB->a_tmp_tmp_d * localB->a_tmp_b + localB->J22_c_tmp * localB->a_tmp_b)
363 + localB->a_tmp_g * localB->a_tmp_f * localB->a_tmp_tmp_d * localB->a_tmp_b)
364 - localB->a_tmp_tmp_ln * localB->a_tmp_cv *
365 localB->a_tmp_b) - localB->a_tmp_m *
366 (localB->a_tmp_tmp_dy - localB->a_tmp_tmp_lx)) -
367 localB->a_tmp_tmp_tmp_d * localB->a_tmp;
368 localB->a_tmp_cv = (((localB->a_tmp_tmp * (localB->a_tmp_tmp_l *
369 localB->a_tmp_tmp_o) * localB->a_tmp_tmp_p * localB->a_tmp_tmp_d +
370 localB->a_tmp_tmp * J22_c_tmp_tmp_tmp *
371 localB->a_tmp_tmp_n) + localB->a_tmp_tmp *
372 (localB->a_tmp_f * localB->a_tmp_tmp_o) * localB->a_tmp_g
373 * localB->a_tmp_tmp_d) - localB->a_tmp_tmp * (a_tmp_tmp *
374 localB->a_tmp)) - localB->a_tmp_tmp * (a_tmp_tmp_tmp_tmp_0 * localB->a_tmp_p
375 * localB->a_tmp_k) * localB->a_tmp_tmp_ln;
376 localB->a_tmp_tmp_tmp_d = J22_c_tmp_3 * (rtu_measurements[4] * J22_c_tmp_tmp *
377 localB->a_tmp_c);
378
379 /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */
380 localB->J22_c = ((localB->J22_c_tmp * -(((J22_c_tmp * localB->a_tmp_tmp_tmp_b
381 + rtu_pose[7] * localB->a_tmp_tmp_o) - J22_c_tmp_1 * localB->a_tmp_n) -
382 J22_c_tmp_0 * J22_c_tmp_4) / (localB->a_tmp_tmp_tmp * rtu_pose[7]) -
383 (real32_T)fabs((real_T)(J22_c_tmp_2 * ((J22_c_tmp_3 *
384 (localB->x_tmp * localB->x_tmp) / (localB->a_tmp_m * localB->a_tmp_tmp_tmp_e)
385 + localB->a_tmp_tmp_tmp_e) * (localB->a_tmp_m * localB->a_tmp_m)) /
386 J22_c_tmp_5)) * ((rtu_sensor - rtu_q_pr[0]) / 0.01F * 2.0F) / ((rtu_sensor_f
387 - rtu_q_pr[1]) / 0.01F)) - J22_c_tmp_2 * (localB->a_tmp_m * localB->a_tmp_m)
388 * (J22_c_tmp_tmp_0 - (localB->a_tmp_cv -
389 localB->a_tmp_tmp_tmp_d) / localB->a_tmp_m) / J22_c_tmp_5) / 2.0F;
390 if ((localB->J22_c == 0.0F) || rtIsNaNF(localB->J22_c) || rtIsInfF
391 (localB->J22_c)) {
392 localB->J22_c = rtu_J22_old;
393 }
394
395 localB->J22_ol = localB->J22_c;
396 localB->JTcomp[0] = (((((a_tmp_tmp_tmp * localB->a_tmp_tmp_tmp_b -
397 rtu_measurements[13] * localB->a_tmp_tmp_o * localB->a_tmp_g1 *
398 localB->a_tmp_c) - localB->a_tmp_tmp_b * localB->a_tmp_n) -
399 localB->a_tmp_tmp_b * (localB->a_tmp_p * localB->J22_c_tmp_tmp)) *
400 (localB->a_tmp_gu * (localB->x_tmp * localB->x_tmp) *
401 localB->a_tmp_k) + a_tmp_tmp_0) - a_tmp_tmp_1) * -localB->a_tmp_b /
402 (localB->a_tmp_tmp_tmp * (localB->a_tmp_tmp * localB->a_tmp_tmp_tmp_e));
403 localB->JTcomp[1] = localB->J22_c_tmp * localB->a_tmp_tmp_o /
404 localB->a_tmp_tmp_tmp - ((localB->a_tmp_cv - localB->a_tmp_m *
405 J22_c_tmp_tmp_0) - localB->a_tmp_tmp_tmp_d) * localB->a_tmp_b /
406 (localB->a_tmp_tmp_tmp * localB->a_tmp_tmp);
407
408 /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */
409 localB->JTcomp[2] = -(((((((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2]))
410 * rtu_measurements[5] + rtu_measurements[14] * (real32_T)cos((real_T)
411 rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
412 rtu_measurements[13]) * (real32_T)cos((real_T)rtu_pose[0]) -
413 ((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin
414 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) - (real32_T)
415 cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *
416 (real32_T)sin((real_T)rtu_pose[0])) * ((rtu_measurements[7] +
417 rtu_measurements[8]) * rtu_pose[7] * (real32_T)cos((real_T)((rtu_sensor_f -
418 rtu_pose[3]) - rtu_pose[4]))) + ((((real32_T)cos((real_T)(rtu_sensor_f -
419 rtu_pose[2])) * rtu_measurements[5] + rtu_measurements[14] * (real32_T)cos
420 ((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))
421 * rtu_measurements[13]) * (real32_T)cos((real_T)rtu_pose[0]) -
422 ((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin
423 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) - (real32_T)
424 cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *
425 (real32_T)sin((real_T)rtu_pose[0])) * ((rtu_measurements[7] +
426 rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) *
427 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) *
428 ((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)rtu_pose[0]) +
429 (rtu_measurements[1] - rtu_pose[6]) * (real32_T)sin((real_T)rtu_pose[0]))))
430 - ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements
431 [5] + rtu_measurements[14] * (real32_T)cos((real_T)rtu_pose[2])) -
432 (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements
433 [13]) * (real32_T)cos((real_T)rtu_pose[0]) - ((rtu_measurements[14] *
434 (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f -
435 rtu_pose[2])) * rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f -
436 rtu_pose[2])) * rtu_measurements[13]) * (real32_T)sin((real_T)rtu_pose[0])) *
437 ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)
438 (rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_f -
439 rtu_pose[3]) - rtu_pose[4])) * ((rtu_measurements[0] + 13.5F) * (real32_T)
440 sin((real_T)rtu_pose[0]) - (rtu_measurements[1] - rtu_pose[6]) * (real32_T)
441 cos((real_T)rtu_pose[0])))) - (((((((real32_T)cos((real_T)(rtu_sensor_f -
442 rtu_pose[2])) * rtu_measurements[13] - (real32_T)sin((real_T)(rtu_sensor_f -
443 rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f
444 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos
445 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12])
446 * ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)sin((real_T)
447 (rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_f -
448 rtu_pose[3]) - rtu_pose[4]))) - ((((((rtu_measurements[9] * (real32_T)cos
449 ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)
450 rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
451 rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
452 rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
453 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
454 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos
455 ((real_T)(rtu_pose[4] - rtu_pose[2])) + (((((rtu_measurements[10] *
456 (real32_T)cos((real_T)rtu_pose[2]) - rtu_measurements[9] * (real32_T)sin
457 ((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))
458 * rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))
459 * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3])
460 - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
461 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) *
462 (real32_T)sin((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin
463 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]
464 + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
465 rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1]))))
466 - (((((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2]) -
467 rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -
468 (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
469 rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f -
470 rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f
471 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin
472 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
473 rtu_measurements[8]) * ((real32_T)cos((real_T)((rtu_sensor_f -
474 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)
475 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) +
476 ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
477 rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose
478 [2])) * rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -
479 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
480 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
481 ((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
482 (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)sin((real_T)
483 (rtu_pose[4] - rtu_pose[2])) + ((((((rtu_measurements[9] * (real32_T)cos
484 ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)
485 rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
486 rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
487 rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
488 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
489 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (((real32_T)cos
490 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]
491 - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
492 rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2])))
493 + ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements
494 [6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
495 rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -
496 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
497 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
498 ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)
499 (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_f -
500 rtu_pose[3]) - rtu_pose[2]))))) * (real32_T)cos((real_T)(rtu_pose[0] +
501 rtu_pose[1]))) * (real32_T)sin((real_T)rtu_pose[0]) + (((real32_T)cos
502 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5] +
503 rtu_measurements[14] * (real32_T)cos((real_T)rtu_pose[2])) - (real32_T)sin
504 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *
505 ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)sin((real_T)
506 rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
507 rtu_pose[4])))) * ((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)
508 rtu_pose[0]) - rtu_pose[6] * (real32_T)sin((real_T)rtu_pose[0]))) /
509 (((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin
510 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) - (real32_T)
511 cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *
512 ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)sin((real_T)
513 rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
514 rtu_pose[4]))) - (((((((rtu_measurements[9] * (real32_T)cos((real_T)
515 rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) -
516 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -
517 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -
518 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
519 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
520 rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4] -
521 rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2])
522 - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin
523 ((real_T)(rtu_sensor_f - rtu_pose[2])) *
524 rtu_measurements[5]) - (real32_T)sin((real_T)
525 (rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)
526 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) -
527 (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
528 rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[4] -
529 rtu_pose[2]))) * (((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
530 rtu_pose[2])) * rtu_measurements[7] + (real32_T)cos((real_T)((rtu_sensor_f -
531 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin((real_T)
532 (rtu_pose[0] + rtu_pose[1])) + ((real32_T)cos((real_T)((rtu_sensor_f -
533 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)
534 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
535 (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1]))) +
536 (((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
537 rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
538 rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])
539 - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
540 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
541 (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) -
542 ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
543 rtu_measurements[13] - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
544 rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
545 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
546 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin
547 ((real_T)(rtu_pose[0] + rtu_pose[1]))) * ((real32_T)cos
548 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) * (rtu_measurements[7]
549 + rtu_measurements[8]))) * (real32_T)cos((real_T)rtu_pose[0])) +
550 ((rtu_measurements[0] + 13.5F) * (real32_T)sin((real_T)rtu_pose[0]) +
551 rtu_pose[6] * (real32_T)cos((real_T)rtu_pose[0]))) *
552 (((((((((rtu_measurements[14] * (real32_T)sin((real_T)
553 rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
554 rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
555 rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
556 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
557 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * ((rtu_measurements
558 [7] + rtu_measurements[8]) * (real32_T)cos((real_T)rtu_pose[0]) * (real32_T)
559 sin((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)
560 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4]))) - (rtu_measurements[7] +
561 rtu_measurements[8]) * (real32_T)sin((real_T)rtu_pose[0]) * (real32_T)cos
562 ((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_f
563 - rtu_pose[3]) - rtu_pose[4])) * ((rtu_measurements[14] * (real32_T)sin
564 ((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
565 rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
566 rtu_measurements[13])) - ((((((rtu_measurements[9] * (real32_T)cos((real_T)
567 rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) -
568 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -
569 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -
570 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
571 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
572 rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4] -
573 rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2])
574 - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin
575 ((real_T)(rtu_sensor_f - rtu_pose[2])) *
576 rtu_measurements[5]) - (real32_T)sin((real_T)
577 (rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)
578 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) -
579 (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
580 rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[4] -
581 rtu_pose[2]))) * (((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
582 rtu_pose[2])) * rtu_measurements[7] + (real32_T)cos((real_T)((rtu_sensor_f -
583 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * ((real32_T)sin
584 ((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)rtu_pose[0]))))
585 - (((((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2]) -
586 rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -
587 (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
588 rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f -
589 rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f
590 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin
591 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
592 rtu_measurements[8]) * ((real32_T)cos((real_T)((rtu_sensor_f -
593 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)
594 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) +
595 ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
596 rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose
597 [2])) * rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -
598 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
599 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
600 ((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
601 (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)sin((real_T)
602 (rtu_pose[4] - rtu_pose[2])) + ((((((rtu_measurements[9] * (real32_T)cos
603 ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)
604 rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
605 rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
606 rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
607 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
608 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (((real32_T)cos
609 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]
610 - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
611 rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2])))
612 + ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements
613 [6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
614 rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -
615 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
616 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
617 ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)
618 (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_f -
619 rtu_pose[3]) - rtu_pose[2]))))) * ((real32_T)cos((real_T)(rtu_pose[0] +
620 rtu_pose[1])) * (real32_T)cos((real_T)rtu_pose[0]))) * (localB->x_tmp *
621 localB->x_tmp) / ((((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2])
622 - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5])
623 - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
624 rtu_measurements[13]) * ((rtu_measurements[7] +
625 rtu_measurements[8]) * (real32_T)sin((real_T)rtu_pose[1]) * (real32_T)cos
626 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4]))) -
627 (((((((rtu_measurements[9] * (real32_T)cos((real_T)
628 rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) -
629 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -
630 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -
631 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
632 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
633 rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4] -
634 rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2])
635 - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin
636 ((real_T)(rtu_sensor_f - rtu_pose[2])) *
637 rtu_measurements[5]) - (real32_T)sin((real_T)
638 (rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)
639 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) -
640 (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
641 rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[4] -
642 rtu_pose[2]))) * (((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
643 rtu_pose[2])) * rtu_measurements[7] + (real32_T)cos((real_T)((rtu_sensor_f -
644 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin((real_T)
645 (rtu_pose[0] + rtu_pose[1])) + ((real32_T)cos((real_T)((rtu_sensor_f -
646 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)
647 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
648 (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1]))) +
649 (((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
650 rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
651 rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])
652 - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
653 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
654 (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) - ((((real32_T)cos
655 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13] - (real32_T)
656 sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)
657 sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
658 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
659 rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] +
660 rtu_pose[1]))) * ((real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
661 rtu_pose[4])) * (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)
662 cos((real_T)rtu_pose[0])) * (real32_T)cos((real_T)
663 rtu_pose[5])) + (real32_T)cos((real_T)rtu_pose[5])) * (localB->a_tmp_m *
664 localB->a_tmp_m)) / (((rtu_measurements[7] + rtu_measurements[8]) *
665 (real32_T)sin((real_T)rtu_pose[0]) * (real32_T)sin((real_T)rtu_pose[1]) *
666 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) *
667 ((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)rtu_pose[0]) -
668 rtu_pose[6] * (real32_T)sin((real_T)rtu_pose[0])) * ((rtu_measurements[14] *
669 (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f -
670 rtu_pose[2])) * rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f -
671 rtu_pose[2])) * rtu_measurements[13]) - ((((rtu_measurements[14] * (real32_T)
672 sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))
673 * rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2]))
674 * rtu_measurements[13]) * ((rtu_measurements[7] + rtu_measurements[8]) *
675 (real32_T)sin((real_T)rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_f -
676 rtu_pose[3]) - rtu_pose[4]))) - (((((((rtu_measurements[9] * (real32_T)cos
677 ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)
678 rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
679 rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
680 rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
681 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
682 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos
683 ((real_T)(rtu_pose[4] - rtu_pose[2])) + (((((rtu_measurements[10] *
684 (real32_T)cos((real_T)rtu_pose[2]) - rtu_measurements[9] * (real32_T)sin
685 ((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))
686 * rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))
687 * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3])
688 - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
689 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) *
690 (real32_T)sin((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin
691 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]
692 + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
693 rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) +
694 ((real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
695 rtu_measurements[7] - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
696 rtu_pose[2])) * rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[0] +
697 rtu_pose[1]))) + (((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
698 rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
699 rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])
700 - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
701 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
702 (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) -
703 ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
704 rtu_measurements[13] - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
705 rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
706 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
707 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin
708 ((real_T)(rtu_pose[0] + rtu_pose[1]))) * ((real32_T)cos
709 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) * (rtu_measurements[7]
710 + rtu_measurements[8]))) * (real32_T)cos((real_T)rtu_pose[0])) *
711 ((rtu_measurements[0] + 13.5F) * (real32_T)sin((real_T)rtu_pose[0]) +
712 rtu_pose[6] * (real32_T)cos((real_T)rtu_pose[0])) - ((((((real32_T)cos
713 ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13] - (real32_T)
714 sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)
715 sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
716 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
717 rtu_pose[2])) * rtu_measurements[12]) * ((rtu_measurements[7] +
718 rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) *
719 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4]))) -
720 ((((((rtu_measurements[9] * (real32_T)cos((real_T)rtu_pose[2]) +
721 rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)
722 cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -
723 (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6])
724 - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
725 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])
726 - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4]
727 - rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)
728 rtu_pose[2]) - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -
729 (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -
730 (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -
731 (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -
732 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)((rtu_sensor_f
733 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin
734 ((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin((real_T)
735 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] +
736 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
737 rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1]))))
738 - (((((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2]) -
739 rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -
740 (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
741 rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f -
742 rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f
743 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin
744 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
745 rtu_measurements[8]) * ((real32_T)cos((real_T)((rtu_sensor_f -
746 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)
747 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) +
748 ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
749 rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose
750 [2])) * rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -
751 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
752 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
753 ((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
754 (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)sin((real_T)
755 (rtu_pose[4] - rtu_pose[2])) + ((((((rtu_measurements[9] * (real32_T)cos
756 ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)
757 rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
758 rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *
759 rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
760 rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f
761 - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (((real32_T)cos
762 ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]
763 - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *
764 rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2])))
765 + ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements
766 [6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
767 rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -
768 rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)
769 ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *
770 ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)
771 (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_f -
772 rtu_pose[3]) - rtu_pose[2]))))) * (real32_T)cos((real_T)(rtu_pose[0] +
773 rtu_pose[1]))) * (((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)
774 rtu_pose[0]) - rtu_pose[6] * (real32_T)sin((real_T)rtu_pose[0])) * (real32_T)
775 sin((real_T)rtu_pose[0]))) * (real32_T)cos((real_T)
776 rtu_pose[0])) * ((((real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *
777 rtu_measurements[4] + rtu_measurements[14] * (real32_T)
778 sin((real_T)rtu_pose[2])) - (rtu_measurements[14] *
779 (real32_T)cos((real_T)rtu_pose[2]) - (real32_T)cos((real_T)(rtu_sensor_f -
780 rtu_pose[2])) * rtu_measurements[4]) * (real32_T)tan((real_T)rtu_pose[5])) *
781 ((rtu_measurements[7] + rtu_measurements[8]) * rtu_pose[7] *
782 (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -
783 rtu_pose[4]))))));
784 localB->JTcomp[3] = localB->J22_c;
785
786 /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */
787 localB->q_next[0] = rtu_sensor;
788 localB->q_next[1] = rtu_sensor_f;
789}
790
791/*
792 * Output and update for atomic system:
793 * '<S80>/Middle Jacobian '
794 * '<S127>/Pinky Jacobian '
795 * '<S172>/Ring Jacobian '
796 */
797void dx_hand_mo_MiddleJacobian_g(const real32_T rtu_pose[8], real32_T
798 rtu_sensor_h, const real32_T rtu_measurements[18],
799 B_MiddleJacobian_dx_hand_mo_j_T *localB)
800{
801 real32_T JTcomp_tmp;
802 real32_T JTcomp_tmp_0;
803 real32_T a_tmp_tmp;
804 real32_T a_tmp_tmp_0;
805 real32_T a_tmp_tmp_1;
806 real32_T a_tmp_tmp_tmp_tmp;
807 real32_T a_tmp_tmp_2;
808 real32_T JTcomp_tmp_1;
809 real32_T a_tmp_tmp_tmp_tmp_0;
810 real32_T a_tmp_tmp_3;
811 real32_T JTcomp_tmp_2;
812 real32_T JTcomp_tmp_3;
813 real32_T JTcomp_tmp_tmp;
814 real32_T JTcomp_tmp_tmp_0;
815 real32_T JTcomp_tmp_tmp_1;
816 real32_T JTcomp_tmp_tmp_2;
817 localB->c1 = rtu_pose[6] / 1000.0F;
818 localB->c2 = rtu_pose[7] / 1000.0F;
819 localB->offset = rtu_measurements[3] / 1000.0F;
820 localB->LAB = rtu_measurements[4] / 1000.0F;
821 localB->LBC = rtu_measurements[5] / 1000.0F;
822 localB->LCD = rtu_measurements[6] / 1000.0F;
823 localB->LDE = rtu_measurements[7] / 1000.0F;
824 localB->LEF = rtu_measurements[8] / 1000.0F;
825 localB->LGH = rtu_measurements[10] / 1000.0F;
826 localB->LEJ = rtu_measurements[12] / 1000.0F;
827 localB->LCI = rtu_measurements[13] / 1000.0F;
828 localB->LKB = rtu_measurements[14] / 1000.0F;
829 localB->LKH = rtu_measurements[9] / 1000.0F + localB->LKB;
830 localB->x_tmp = (real32_T)sin((real_T)rtu_pose[5]);
831
832 /* SignalConversion: '<S91>/TmpSignal ConversionAt SFunction Inport2' */
833 localB->a_tmp = rtu_sensor_h - rtu_pose[2];
834 localB->a_tmp_tmp = (real32_T)sin((real_T)rtu_pose[2]);
835 localB->a_tmp_m = localB->LKB * localB->a_tmp_tmp;
836 localB->a_tmp_tmp_k = (real32_T)sin((real_T)localB->a_tmp);
837 localB->a_tmp_c = localB->a_tmp_tmp_k * localB->LBC;
838
839 /* SignalConversion: '<S91>/TmpSignal ConversionAt SFunction Inport2' */
840 localB->a_tmp_cx = rtu_sensor_h - rtu_pose[3];
841 localB->a_tmp_tmp_c = localB->a_tmp_cx - rtu_pose[2];
842 localB->a_tmp_b = (real32_T)sin((real_T)localB->a_tmp_tmp_c);
843 localB->a_tmp_p = (real32_T)cos((real_T)rtu_pose[2]);
844 localB->a_tmp = (real32_T)cos((real_T)localB->a_tmp);
845 localB->a_tmp_f = (real32_T)cos((real_T)localB->a_tmp_tmp_c);
846 localB->a_tmp_g = rtu_pose[4] - rtu_pose[2];
847 localB->a_tmp_g1 = localB->a_tmp_b * localB->LDE;
848 localB->a_tmp_me = localB->a_tmp_f * localB->LDE;
849 localB->a_tmp_n = rtu_pose[0] + rtu_pose[1];
850 localB->a_tmp_pp = localB->a_tmp * localB->LCD;
851 localB->a_tmp_l = localB->a_tmp_b * localB->LEJ;
852 localB->a_tmp_j = (real32_T)cos((real_T)localB->a_tmp_n);
853 localB->a_tmp_d = localB->a_tmp * localB->LCI;
854 localB->a_tmp_gu = localB->a_tmp_tmp_k * localB->LCD;
855 localB->a_tmp_ld = localB->a_tmp_f * localB->LEJ;
856 localB->a_tmp_n = (real32_T)sin((real_T)localB->a_tmp_n);
857 localB->a_tmp_cx = (real32_T)cos((real_T)(localB->a_tmp_cx - rtu_pose[4]));
858 localB->a_tmp_dh = localB->LEF + localB->LDE;
859 localB->a_tmp_tmp_c = localB->a_tmp_m - localB->a_tmp_c;
860 localB->a_tmp_tmp_d = (real32_T)cos((real_T)rtu_pose[0]);
861 localB->a_tmp_tmp_l = localB->a_tmp_tmp_c - localB->a_tmp_d;
862 localB->a_tmp_tmp_o = localB->a_tmp_g1 + localB->a_tmp_ld;
863 a_tmp_tmp_tmp_tmp = localB->a_tmp_b * localB->LEF;
864 localB->a_tmp_tmp_tmp = (((((localB->LGH * localB->a_tmp_p + localB->a_tmp_m)
865 - localB->LKH * localB->a_tmp_tmp) - localB->a_tmp_c) - localB->a_tmp_gu) -
866 a_tmp_tmp_tmp_tmp) - localB->a_tmp_g1;
867 localB->a_tmp_tmp_tmp_n = (real32_T)sin((real_T)localB->a_tmp_g);
868 localB->a_tmp_g = (real32_T)cos((real_T)localB->a_tmp_g);
869 localB->a_tmp_tmp_tmp_tmp = localB->a_tmp * localB->LBC;
870 localB->a_tmp_tmp_tmp_tmp_l = localB->LKB * localB->a_tmp_p;
871 a_tmp_tmp_tmp_tmp_0 = localB->a_tmp_f * localB->LEF;
872 localB->a_tmp_tmp_tmp_b = (((((localB->LGH * localB->a_tmp_tmp + localB->LKH *
873 localB->a_tmp_p) - localB->a_tmp_tmp_tmp_tmp_l) - localB->a_tmp_tmp_tmp_tmp)
874 - localB->a_tmp_pp) - a_tmp_tmp_tmp_tmp_0) - localB->a_tmp_me;
875 localB->a_tmp_tmp = localB->a_tmp_tmp_tmp * localB->a_tmp_tmp_tmp_n +
876 localB->a_tmp_tmp_tmp_b * localB->a_tmp_g;
877 localB->a_tmp_tmp_b = localB->a_tmp_me - localB->a_tmp_l;
878 localB->a_tmp_tmp_tmp_h = localB->a_tmp_tmp_k * localB->LCI;
879 localB->a_tmp_l = ((localB->a_tmp_pp + localB->a_tmp_tmp_tmp_h) +
880 localB->a_tmp_me) - localB->a_tmp_l;
881 a_tmp_tmp = (real32_T)sin((real_T)rtu_pose[1]);
882 a_tmp_tmp_0 = ((localB->a_tmp_d - localB->a_tmp_gu) - localB->a_tmp_g1) -
883 localB->a_tmp_ld;
884 a_tmp_tmp_1 = localB->a_tmp_tmp_o * localB->a_tmp_n;
885 a_tmp_tmp_2 = a_tmp_tmp_1 + localB->a_tmp_tmp_b * localB->a_tmp_j;
886 a_tmp_tmp_3 = localB->a_tmp_dh * a_tmp_tmp * localB->a_tmp_cx;
887 localB->a_tmp_p = localB->a_tmp_tmp_l * a_tmp_tmp_3 - (localB->a_tmp_tmp *
888 a_tmp_tmp_2 + (localB->a_tmp_l * localB->a_tmp_j - a_tmp_tmp_0 *
889 localB->a_tmp_n) * (localB->a_tmp_cx * localB->a_tmp_dh)) *
890 localB->a_tmp_tmp_d;
891 JTcomp_tmp = (real32_T)sin((real_T)rtu_pose[0]);
892 JTcomp_tmp_0 = localB->a_tmp_dh * JTcomp_tmp;
893 localB->a_tmp_b = (localB->a_tmp_tmp_tmp * localB->a_tmp_tmp_b +
894 localB->a_tmp_l * (localB->a_tmp_b * localB->a_tmp_dh)) *
895 localB->a_tmp_tmp_tmp_n + (localB->a_tmp_tmp_tmp_b * (localB->a_tmp_tmp_b *
896 localB->a_tmp_g) + localB->a_tmp_l * (localB->a_tmp_dh * localB->a_tmp_g *
897 localB->a_tmp_f));
898 localB->a_tmp_f = localB->offset * localB->a_tmp_tmp_d;
899 localB->a_tmp_tmp_tmp = localB->a_tmp_f - localB->c1 * JTcomp_tmp;
900 localB->a_tmp_tmp_tmp_b = (localB->a_tmp_tmp_tmp_tmp +
901 localB->a_tmp_tmp_tmp_tmp_l) - localB->a_tmp_tmp_tmp_h;
902 localB->a_tmp_tmp_b = localB->a_tmp_tmp_tmp_b * localB->a_tmp_tmp_d -
903 localB->a_tmp_tmp_l * JTcomp_tmp;
904 JTcomp_tmp_tmp_0 = localB->a_tmp_dh * localB->a_tmp_n * localB->a_tmp_cx;
905 JTcomp_tmp_1 = a_tmp_tmp_0 * JTcomp_tmp_tmp_0;
906 a_tmp_tmp_1 = (JTcomp_tmp_1 - localB->a_tmp_tmp * a_tmp_tmp_1) -
907 localB->a_tmp_b * localB->a_tmp_j;
908 localB->offset *= JTcomp_tmp;
909 JTcomp_tmp_tmp_1 = localB->offset + localB->c1 * localB->a_tmp_tmp_d;
910 JTcomp_tmp_2 = JTcomp_tmp_0 * a_tmp_tmp * localB->a_tmp_cx *
911 localB->a_tmp_tmp_tmp * localB->a_tmp_tmp_l - (localB->a_tmp_p *
912 JTcomp_tmp_tmp_1 - a_tmp_tmp_1 * (localB->a_tmp_tmp_tmp * JTcomp_tmp)) *
913 localB->a_tmp_tmp_d;
914 localB->a_tmp_tmp_k *= localB->LAB;
915 JTcomp_tmp_tmp = (real32_T)tan((real_T)rtu_pose[5]);
916 localB->a_tmp_m = (localB->a_tmp_tmp_k + localB->a_tmp_m) -
917 (localB->a_tmp_tmp_tmp_tmp_l - localB->a_tmp * localB->LAB) * JTcomp_tmp_tmp;
918 localB->a_tmp_tmp_tmp_tmp_l = localB->a_tmp_dh * localB->a_tmp_tmp_d;
919 JTcomp_tmp_3 = localB->a_tmp_tmp_tmp_tmp_l * localB->a_tmp_n *
920 localB->a_tmp_cx;
921 localB->a_tmp_n *= localB->a_tmp_tmp_d;
922 JTcomp_tmp_tmp_2 = localB->a_tmp_j * localB->a_tmp_tmp_d;
923 JTcomp_tmp_0 = (((((localB->a_tmp_tmp_c - localB->a_tmp_gu) - localB->a_tmp_g1)
924 - localB->a_tmp_ld) * JTcomp_tmp_3 - JTcomp_tmp_0 *
925 localB->a_tmp_j * localB->a_tmp_cx * localB->a_tmp_tmp_l) -
926 localB->a_tmp_tmp * (localB->a_tmp_tmp_o * localB->a_tmp_n)) -
927 localB->a_tmp_b * JTcomp_tmp_tmp_2;
928 localB->a_tmp_b = (real32_T)cos((real_T)rtu_pose[5]);
929 localB->JTcomp[0] = ((1.0F - JTcomp_tmp_0 / localB->a_tmp_p) * (localB->x_tmp *
930 localB->x_tmp) + -1.0F) * (localB->a_tmp_p * localB->a_tmp_tmp_b) /
931 (JTcomp_tmp_2 * (localB->a_tmp_m * localB->a_tmp_b));
932 localB->a_tmp_tmp = ((localB->a_tmp_c + localB->a_tmp_gu) + a_tmp_tmp_tmp_tmp)
933 + localB->a_tmp_g1;
934 localB->a_tmp_me += (localB->a_tmp_tmp_tmp_tmp + localB->a_tmp_pp) +
935 a_tmp_tmp_tmp_tmp_0;
936 localB->a_tmp_c += localB->a_tmp_d;
937 localB->a_tmp_d = localB->a_tmp_dh * localB->a_tmp_j * localB->a_tmp_cx;
938 a_tmp_tmp_1 = a_tmp_tmp_1 * JTcomp_tmp + localB->a_tmp_tmp_tmp_b * a_tmp_tmp_3;
939 JTcomp_tmp_1 = ((((localB->a_tmp_tmp * localB->a_tmp_tmp_tmp_n * a_tmp_tmp_2 *
940 localB->a_tmp_tmp_b + JTcomp_tmp_1 * localB->a_tmp_tmp_b) +
941 localB->a_tmp_me * localB->a_tmp_g * a_tmp_tmp_2 *
942 localB->a_tmp_tmp_b) - localB->a_tmp_l * localB->a_tmp_d *
943 localB->a_tmp_tmp_b) - localB->a_tmp_p *
944 (localB->a_tmp_tmp_tmp_tmp - localB->a_tmp_tmp_tmp_h)) -
945 a_tmp_tmp_1 * localB->a_tmp_c;
946 JTcomp_tmp_3 = (((localB->a_tmp_m * (localB->a_tmp_tmp_tmp_n *
947 localB->a_tmp_tmp_d) * localB->a_tmp_tmp * a_tmp_tmp_2 + localB->a_tmp_m *
948 JTcomp_tmp_3 * a_tmp_tmp_0) + localB->a_tmp_m *
949 (localB->a_tmp_g * localB->a_tmp_tmp_d) * localB->a_tmp_me *
950 a_tmp_tmp_2) - localB->a_tmp_m * (a_tmp_tmp_3 *
951 localB->a_tmp_c)) - localB->a_tmp_m * (localB->a_tmp_tmp_tmp_tmp_l *
952 localB->a_tmp_j * localB->a_tmp_cx) * localB->a_tmp_l;
953 JTcomp_tmp_0 *= localB->LAB * JTcomp_tmp_tmp * localB->a_tmp;
954 localB->JTcomp[1] = JTcomp_tmp_1 * localB->a_tmp_tmp_d / JTcomp_tmp_2 -
955 ((JTcomp_tmp_3 - localB->a_tmp_p * localB->a_tmp_tmp_k) - JTcomp_tmp_0) *
956 localB->a_tmp_tmp_b / (JTcomp_tmp_2 * localB->a_tmp_m);
957 localB->a_tmp_tmp = rtu_measurements[1] / 1000.0F - localB->c1;
958 localB->a_tmp_me = localB->a_tmp_dh * localB->c2;
959 JTcomp_tmp = localB->a_tmp_tmp * JTcomp_tmp + localB->a_tmp_f;
960 localB->a_tmp_tmp = localB->offset - localB->a_tmp_tmp * localB->a_tmp_tmp_d;
961 localB->a_tmp_f = localB->a_tmp_me * localB->a_tmp_cx;
962 localB->a_tmp_tmp_b = (((localB->a_tmp_tmp_b * localB->a_tmp_f +
963 localB->a_tmp_tmp_b * (JTcomp_tmp_tmp_0 * JTcomp_tmp)) - localB->a_tmp_tmp_b
964 * (localB->a_tmp_d * localB->a_tmp_tmp)) - a_tmp_tmp_1 *
965 localB->a_tmp_tmp_tmp) / localB->a_tmp_p + JTcomp_tmp_tmp_1;
966
967 /* SignalConversion: '<S91>/TmpSignal ConversionAt SFunction Inport2' */
968 localB->JTcomp[2] = localB->a_tmp_tmp_b * (((1.0F - (((((((localB->LKB *
969 (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_h -
970 rtu_pose[2])) * localB->LBC) - (real32_T)sin((real_T)(rtu_sensor_h -
971 rtu_pose[2])) * localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h -
972 rtu_pose[3]) - rtu_pose[2])) * localB->LDE) - (real32_T)cos((real_T)
973 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * ((localB->LEF
974 + localB->LDE) * (real32_T)cos((real_T)rtu_pose[0]) * (real32_T)sin((real_T)
975 (rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_h -
976 rtu_pose[3]) - rtu_pose[4]))) - (localB->LEF + localB->LDE) * (real32_T)sin
977 ((real_T)rtu_pose[0]) * (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) *
978 (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[4])) *
979 ((localB->LKB * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)
980 (rtu_sensor_h - rtu_pose[2])) * localB->LBC) - (real32_T)cos((real_T)
981 (rtu_sensor_h - rtu_pose[2])) * localB->LCI)) - (((((((localB->LGH *
982 (real32_T)cos((real_T)rtu_pose[2]) + localB->LKB * (real32_T)sin((real_T)
983 rtu_pose[2])) - localB->LKH * (real32_T)sin((real_T)rtu_pose[2])) -
984 (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) * localB->LBC) -
985 (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) * localB->LCD) -
986 (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) *
987 localB->LEF) - (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) -
988 rtu_pose[2])) * localB->LDE) * (real32_T)sin((real_T)(rtu_pose[4] -
989 rtu_pose[2])) + ((((((localB->LGH * (real32_T)sin((real_T)rtu_pose[2]) +
990 localB->LKH * (real32_T)cos((real_T)rtu_pose[2])) - localB->LKB * (real32_T)
991 cos((real_T)rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2]))
992 * localB->LBC) - (real32_T)cos((real_T)(rtu_sensor_h -
993 rtu_pose[2])) * localB->LCD) - (real32_T)cos((real_T)((rtu_sensor_h -
994 rtu_pose[3]) - rtu_pose[2])) * localB->LEF) - (real32_T)cos((real_T)
995 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * (real32_T)cos
996 ((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin((real_T)
997 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE + (real32_T)cos
998 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) *
999 ((real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)
1000 rtu_pose[0])))) - ((((((((localB->LGH * (real32_T)cos((real_T)rtu_pose[2]) +
1001 localB->LKB * (real32_T)sin((real_T)rtu_pose[2])) - localB->LKH * (real32_T)
1002 sin((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2]))
1003 * localB->LBC) - (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) *
1004 localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) -
1005 rtu_pose[2])) * localB->LEF) - (real32_T)sin((real_T)((rtu_sensor_h -
1006 rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * ((real32_T)cos((real_T)
1007 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE - (real32_T)sin
1008 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) +
1009 ((((real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2])) *
1010 localB->LCD + (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) *
1011 localB->LCI) + (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) -
1012 rtu_pose[2])) * localB->LDE) - (real32_T)sin((real_T)((rtu_sensor_h -
1013 rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * ((real32_T)sin((real_T)
1014 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * (localB->LEF + localB->LDE)))
1015 * (real32_T)sin((real_T)(rtu_pose[4] - rtu_pose[2])) +
1016 (((((((localB->LGH * (real32_T)sin((real_T)rtu_pose[2]) +
1017 localB->LKH * (real32_T)cos((real_T)rtu_pose[2])) - localB->LKB * (real32_T)
1018 cos((real_T)rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2]))
1019 * localB->LBC) - (real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2])) *
1020 localB->LCD) - (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) -
1021 rtu_pose[2])) * localB->LEF) - (real32_T)cos((real_T)((rtu_sensor_h -
1022 rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * (((real32_T)cos((real_T)
1023 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE - (real32_T)sin
1024 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) *
1025 (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2]))) + ((((real32_T)cos
1026 ((real_T)(rtu_sensor_h - rtu_pose[2])) * localB->LCD + (real32_T)sin((real_T)
1027 (rtu_sensor_h - rtu_pose[2])) * localB->LCI) + (real32_T)cos((real_T)
1028 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) - (real32_T)sin
1029 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) *
1030 ((localB->LEF + localB->LDE) * (real32_T)cos((real_T)
1031 (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_h -
1032 rtu_pose[3]) - rtu_pose[2]))))) * ((real32_T)cos((real_T)(rtu_pose[0] +
1033 rtu_pose[1])) * (real32_T)cos((real_T)rtu_pose[0]))) / (((localB->LKB *
1034 (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_h -
1035 rtu_pose[2])) * localB->LBC) - (real32_T)cos((real_T)(rtu_sensor_h -
1036 rtu_pose[2])) * localB->LCI) * ((localB->LEF + localB->LDE) * (real32_T)sin
1037 ((real_T)rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3])
1038 - rtu_pose[4]))) - ((((((((localB->LGH * (real32_T)cos((real_T)rtu_pose[2])
1039 + localB->LKB * (real32_T)sin((real_T)rtu_pose[2])) - localB->LKH *
1040 (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_h -
1041 rtu_pose[2])) * localB->LBC) - (real32_T)sin((real_T)(rtu_sensor_h -
1042 rtu_pose[2])) * localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h -
1043 rtu_pose[3]) - rtu_pose[2])) * localB->LEF) - (real32_T)sin((real_T)
1044 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * (real32_T)sin
1045 ((real_T)(rtu_pose[4] - rtu_pose[2])) + ((((((localB->LGH * (real32_T)sin
1046 ((real_T)rtu_pose[2]) + localB->LKH * (real32_T)cos((real_T)rtu_pose[2])) -
1047 localB->LKB * (real32_T)cos((real_T)rtu_pose[2])) - (real32_T)cos((real_T)
1048 (rtu_sensor_h - rtu_pose[2])) * localB->LBC) - (real32_T)cos((real_T)
1049 (rtu_sensor_h - rtu_pose[2])) * localB->LCD) - (real32_T)cos((real_T)
1050 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEF) - (real32_T)cos
1051 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) *
1052 (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin
1053 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE +
1054 (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) *
1055 localB->LEJ) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) +
1056 ((real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) *
1057 localB->LDE - (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) -
1058 rtu_pose[2])) * localB->LEJ) * (real32_T)cos((real_T)(rtu_pose[0] +
1059 rtu_pose[1]))) + (((((real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2])) *
1060 localB->LCD + (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) *
1061 localB->LCI) + (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) -
1062 rtu_pose[2])) * localB->LDE) - (real32_T)sin((real_T)((rtu_sensor_h -
1063 rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * (real32_T)cos((real_T)
1064 (rtu_pose[0] + rtu_pose[1])) - ((((real32_T)cos((real_T)(rtu_sensor_h -
1065 rtu_pose[2])) * localB->LCI - (real32_T)sin((real_T)(rtu_sensor_h -
1066 rtu_pose[2])) * localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h -
1067 rtu_pose[3]) - rtu_pose[2])) * localB->LDE) - (real32_T)cos((real_T)
1068 ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * (real32_T)sin
1069 ((real_T)(rtu_pose[0] + rtu_pose[1]))) * ((real32_T)cos
1070 ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[4])) * (localB->LEF +
1071 localB->LDE))) * (real32_T)cos((real_T)rtu_pose[0]))) * (localB->x_tmp *
1072 localB->x_tmp) + -1.0F) * -(localB->a_tmp_p * localB->a_tmp_p)) /
1073 (JTcomp_tmp_2 * (localB->a_tmp_m * (localB->a_tmp_me * localB->a_tmp_b *
1074 localB->a_tmp_cx)));
1075 localB->JTcomp[3] = JTcomp_tmp_1 * -(((JTcomp_tmp * localB->a_tmp_n +
1076 localB->c2 * localB->a_tmp_tmp_d) - localB->a_tmp_tmp_tmp * a_tmp_tmp) -
1077 localB->a_tmp_tmp * JTcomp_tmp_tmp_2) / (JTcomp_tmp_2 * localB->c2) -
1078 localB->a_tmp_tmp_b * (localB->a_tmp_p * localB->a_tmp_p) *
1079 (localB->a_tmp_tmp_k - (JTcomp_tmp_3 - JTcomp_tmp_0) / localB->a_tmp_p) /
1080 (JTcomp_tmp_2 * (localB->a_tmp_m * localB->a_tmp_f));
1081}
1082
1083real32_T rt_hypotf_snf(real32_T u0, real32_T u1)
1084{
1085 real32_T y;
1086 real32_T a;
1087 a = (real32_T)fabs((real_T)u0);
1088 y = (real32_T)fabs((real_T)u1);
1089 if (a < y) {
1090 a /= y;
1091 y *= (real32_T)sqrt((real_T)(a * a + 1.0F));
1092 } else if (a > y) {
1093 y /= a;
1094 y = (real32_T)sqrt((real_T)(y * y + 1.0F)) * a;
1095 } else {
1096 if (!rtIsNaNF(y)) {
1097 y = a * 1.41421354F;
1098 }
1099 }
1100
1101 return y;
1102}
1103
1104/* Function for MATLAB Function: '<S81>/Middle Direct Kinematics' */
1105static void dx_hand_model_sqrt(creal32_T *x)
1106{
1107 real32_T xr;
1108 real32_T absxr;
1109 xr = x->re;
1110 if (x->im == 0.0F) {
1111 if (x->re < 0.0F) {
1112 absxr = 0.0F;
1113 xr = (real32_T)sqrt((real_T)-x->re);
1114 } else {
1115 absxr = (real32_T)sqrt((real_T)x->re);
1116 xr = 0.0F;
1117 }
1118 } else if (x->re == 0.0F) {
1119 if (x->im < 0.0F) {
1120 absxr = (real32_T)sqrt((real_T)(-x->im / 2.0F));
1121 xr = -absxr;
1122 } else {
1123 absxr = (real32_T)sqrt((real_T)(x->im / 2.0F));
1124 xr = absxr;
1125 }
1126 } else if (rtIsNaNF(x->re)) {
1127 absxr = x->re;
1128 } else if (rtIsNaNF(x->im)) {
1129 absxr = x->im;
1130 xr = x->im;
1131 } else if (rtIsInfF(x->im)) {
1132 absxr = (real32_T)fabs((real_T)x->im);
1133 xr = x->im;
1134 } else if (rtIsInfF(x->re)) {
1135 if (x->re < 0.0F) {
1136 absxr = 0.0F;
1137 xr = x->im * -x->re;
1138 } else {
1139 absxr = x->re;
1140 xr = 0.0F;
1141 }
1142 } else {
1143 absxr = (real32_T)fabs((real_T)x->re);
1144 xr = (real32_T)fabs((real_T)x->im);
1145 if ((absxr > 8.50705867E+37F) || (xr > 8.50705867E+37F)) {
1146 absxr *= 0.5F;
1147 xr = rt_hypotf_snf(absxr, xr * 0.5F);
1148 if (xr > absxr) {
1149 absxr = (real32_T)sqrt((real_T)(absxr / xr + 1.0F)) * (real32_T)sqrt
1150 ((real_T)xr);
1151 } else {
1152 absxr = (real32_T)sqrt((real_T)xr) * 1.41421354F;
1153 }
1154 } else {
1155 absxr = (real32_T)sqrt((real_T)((rt_hypotf_snf(absxr, xr) + absxr) * 0.5F));
1156 }
1157
1158 if (x->re > 0.0F) {
1159 xr = x->im / absxr * 0.5F;
1160 } else {
1161 if (x->im < 0.0F) {
1162 xr = -absxr;
1163 } else {
1164 xr = absxr;
1165 }
1166
1167 absxr = x->im / xr * 0.5F;
1168 }
1169 }
1170
1171 x->re = absxr;
1172 x->im = xr;
1173}
1174
1175real32_T rt_atan2f_snf(real32_T u0, real32_T u1)
1176{
1177 real32_T y;
1178 int32_T u0_0;
1179 int32_T u1_0;
1180 if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
1181 y = (rtNaNF);
1182 } else if (rtIsInfF(u0) && rtIsInfF(u1)) {
1183 if (u0 > 0.0F) {
1184 u0_0 = 1;
1185 } else {
1186 u0_0 = -1;
1187 }
1188
1189 if (u1 > 0.0F) {
1190 u1_0 = 1;
1191 } else {
1192 u1_0 = -1;
1193 }
1194
1195 y = (real32_T)atan2((real_T)(real32_T)u0_0, (real_T)(real32_T)u1_0);
1196 } else if (u1 == 0.0F) {
1197 if (u0 > 0.0F) {
1198 y = RT_PIF / 2.0F;
1199 } else if (u0 < 0.0F) {
1200 y = -(RT_PIF / 2.0F);
1201 } else {
1202 y = 0.0F;
1203 }
1204 } else {
1205 y = (real32_T)atan2((real_T)u0, (real_T)u1);
1206 }
1207
1208 return y;
1209}
1210
1211/* Function for MATLAB Function: '<S81>/Middle Direct Kinematics' */
1212static real32_T dx_hand_model_rescale(real32_T *re, real32_T *im)
1213{
1214 real32_T scale;
1215 real32_T absim;
1216 scale = (real32_T)fabs((real_T)*re);
1217 absim = (real32_T)fabs((real_T)*im);
1218 if (scale > absim) {
1219 if (*re < 0.0F) {
1220 *re = -1.0F;
1221 } else {
1222 *re = 1.0F;
1223 }
1224
1225 *im /= scale;
1226 } else if (absim > scale) {
1227 *re /= absim;
1228 if (*im < 0.0F) {
1229 *im = -1.0F;
1230 } else {
1231 *im = 1.0F;
1232 }
1233
1234 scale = absim;
1235 } else {
1236 if (*re < 0.0F) {
1237 *re = -1.0F;
1238 } else {
1239 *re = 1.0F;
1240 }
1241
1242 if (*im < 0.0F) {
1243 *im = -1.0F;
1244 } else {
1245 *im = 1.0F;
1246 }
1247 }
1248
1249 return scale;
1250}
1251
1252/* Function for MATLAB Function: '<S81>/Middle Direct Kinematics' */
1253static real32_T dx_hand_model_my_acos(real32_T x,
1254 B_MiddleDirectKinematics_dx_h_T *localB)
1255{
1256 real32_T y;
1257 real32_T b_ci;
1258 real32_T sai;
1259 if (!((real32_T)fabs((real_T)x) > 1.0F)) {
1260 localB->t.re = (real32_T)acos((real_T)x);
1261 } else {
1262 localB->v.re = 1.0F + x;
1263 localB->v.im = 0.0F;
1264 dx_hand_model_sqrt(&localB->v);
1265 localB->t.re = 1.0F - x;
1266 localB->t.im = 0.0F;
1267 dx_hand_model_sqrt(&localB->t);
1268 if (!((-localB->v.im == 0.0F) && (localB->t.im == 0.0F))) {
1269 b_ci = localB->v.re * localB->t.im + -localB->v.im * localB->t.re;
1270 if ((!((!rtIsInfF(b_ci)) && (!rtIsNaNF(b_ci)))) && (!rtIsNaNF(localB->v.re))
1271 && (!rtIsNaNF(-localB->v.im)) && (!rtIsNaNF(localB->t.re)) &&
1272 (!rtIsNaNF(localB->t.im))) {
1273 b_ci = localB->v.re;
1274 sai = -localB->v.im;
1275 dx_hand_model_rescale(&b_ci, &sai);
1276 b_ci = localB->t.re;
1277 sai = localB->t.im;
1278 dx_hand_model_rescale(&b_ci, &sai);
1279 }
1280 }
1281
1282 localB->t.re = 2.0F * rt_atan2f_snf(localB->t.re, localB->v.re);
1283 }
1284
1285 y = localB->t.re;
1286 return y;
1287}
1288
1289/*
1290 * Output and update for atomic system:
1291 * '<S81>/Middle Direct Kinematics'
1292 * '<S128>/Pinky Direct Kinematics'
1293 * '<S173>/Ring Direct Kinematics'
1294 */
1295void dx_h_MiddleDirectKinematics(real32_T rtu_u, real32_T rtu_u_l, const
1296 real32_T rtu_measurements[18], B_MiddleDirectKinematics_dx_h_T *localB)
1297{
1298 real32_T xD;
1299 real32_T yD;
1300 real32_T yI;
1301 real32_T LLI;
1302 real32_T temp;
1303 real32_T LDG;
1304 real32_T xD1;
1305 real32_T a_tmp;
1306 real32_T temp_tmp;
1307 real32_T yH_tmp;
1308 real32_T yH_tmp_0;
1309 localB->LKH = rtu_measurements[14] + rtu_measurements[9];
1310 localB->LDF = rtu_measurements[7] + rtu_measurements[8];
1311 localB->LBD = rtu_measurements[5] + rtu_measurements[6];
1312 localB->LKN = (real32_T)sqrt((real_T)(rtu_measurements[16] * rtu_measurements
1313 [16] + rtu_measurements[15] * rtu_measurements[15]));
1314
1315 /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */
1316 localB->LAK = (real32_T)sqrt((real_T)((rtu_measurements[4] * rtu_measurements
1317 [4] + rtu_measurements[14] * rtu_measurements[14]) - 2.0F *
1318 rtu_measurements[4] * rtu_measurements[14] * (real32_T)cos((real_T)rtu_u_l)));
1319 a_tmp = rtu_u + rtu_measurements[17];
1320 localB->qK = 3.14159274F - ((dx_hand_model_my_acos(((-(rtu_measurements[4] *
1321 rtu_measurements[4]) + localB->LAK * localB->LAK) + rtu_measurements[14] *
1322 rtu_measurements[14]) / (2.0F * localB->LAK * rtu_measurements[14]), localB)
1323 + dx_hand_model_my_acos(((-(a_tmp * a_tmp) + localB->LAK * localB->LAK) +
1324 localB->LKN * localB->LKN) / (2.0F * localB->LAK * localB->LKN), localB)) +
1325 (real32_T)atan((real_T)(rtu_measurements[15] / rtu_measurements[16])));
1326 localB->xH = -localB->LKH * (real32_T)cos((real_T)localB->qK);
1327 localB->yH = localB->LKH * (real32_T)sin((real_T)localB->qK);
1328
1329 /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */
1330 localB->xC = -rtu_measurements[14] * (real32_T)cos((real_T)localB->qK) -
1331 (real32_T)cos((real_T)(rtu_u_l - localB->qK)) * rtu_measurements[5];
1332 localB->LKH = rtu_measurements[14] * (real32_T)sin((real_T)localB->qK) -
1333 (real32_T)sin((real_T)(rtu_u_l - localB->qK)) * rtu_measurements[5];
1334 xD = localB->xC - (real32_T)cos((real_T)(rtu_u_l - localB->qK)) *
1335 rtu_measurements[6];
1336 yD = localB->LKH - (real32_T)sin((real_T)(rtu_u_l - localB->qK)) *
1337 rtu_measurements[6];
1338 localB->xC += (real32_T)sin((real_T)(rtu_u_l - localB->qK)) *
1339 rtu_measurements[13];
1340 yI = localB->LKH - (real32_T)cos((real_T)(rtu_u_l - localB->qK)) *
1341 rtu_measurements[13];
1342 localB->LKH = localB->xC - (-rtu_measurements[2]);
1343 LLI = yI - (-rtu_measurements[3]);
1344 LLI = (real32_T)sqrt((real_T)(localB->LKH * localB->LKH + LLI * LLI));
1345 temp_tmp = (rtu_measurements[0] + 13.5F) * (rtu_measurements[0] + 13.5F);
1346 temp = LLI * LLI - temp_tmp;
1347 if (temp < 0.0F) {
1348 temp = 0.0F;
1349 }
1350
1351 localB->LKH = (real32_T)sqrt((real_T)temp);
1352 LLI = ((-temp_tmp + LLI * LLI) + localB->LKH * localB->LKH) / (2.0F *
1353 localB->LKH * LLI);
1354 if ((real32_T)fabs((real_T)LLI) > 1.0F) {
1355 LLI = 1.0F;
1356 }
1357
1358 localB->xC = (real32_T)atan((real_T)((-rtu_measurements[3] - yI) /
1359 (-rtu_measurements[2] - localB->xC))) + (real32_T)fabs((real_T)
1360 dx_hand_model_my_acos(LLI, localB));
1361 yI = localB->xH - xD;
1362 LLI = localB->yH - yD;
1363 temp = (real32_T)sqrt((real_T)(yI * yI + LLI * LLI));
1364 localB->xH = (localB->xH - rtu_measurements[10] * (real32_T)sin((real_T)
1365 localB->qK)) - xD;
1366 localB->yH = (localB->yH - rtu_measurements[10] * (real32_T)cos((real_T)
1367 localB->qK)) - yD;
1368 LDG = (real32_T)sqrt((real_T)(localB->xH * localB->xH + localB->yH *
1369 localB->yH));
1370 xD1 = rtu_measurements[10] * rtu_measurements[10];
1371 localB->xH = ((-(temp * temp) + LDG * LDG) + xD1) / (2.0F * LDG *
1372 rtu_measurements[10]);
1373 if ((real32_T)fabs((real_T)localB->xH) > 1.0F) {
1374 localB->xH = 1.0F;
1375 }
1376
1377 yH_tmp = rtu_measurements[11] * rtu_measurements[11];
1378 yH_tmp_0 = localB->LDF * localB->LDF;
1379 localB->yH = ((-yH_tmp_0 + LDG * LDG) + yH_tmp) / (2.0F * LDG *
1380 rtu_measurements[11]);
1381 if ((real32_T)fabs((real_T)localB->yH) > 1.0F) {
1382 localB->yH = 1.0F;
1383 }
1384
1385 yI = -rtu_measurements[2] - rtu_measurements[1] * (real32_T)cos((real_T)
1386 localB->xC);
1387 LLI = -rtu_measurements[3] - rtu_measurements[1] * (real32_T)sin((real_T)
1388 localB->xC);
1389 xD1 = ((-xD1 + temp * temp) + LDG * LDG) / (2.0F * temp * LDG);
1390 if ((real32_T)fabs((real_T)xD1) > 1.0F) {
1391 xD1 = 1.0F;
1392 }
1393
1394 localB->LDF = ((-yH_tmp + LDG * LDG) + yH_tmp_0) / (2.0F * LDG * localB->LDF);
1395 if ((real32_T)fabs((real_T)localB->LDF) > 1.0F) {
1396 localB->LDF = 1.0F;
1397 }
1398
1399 localB->LBD = ((-(rtu_measurements[9] * rtu_measurements[9]) + temp * temp) +
1400 localB->LBD * localB->LBD) / (2.0F * temp * localB->LBD);
1401 if ((real32_T)fabs((real_T)localB->LBD) > 1.0F) {
1402 localB->LBD = 1.0F;
1403 }
1404
1405 localB->LBD = 3.14159274F - (((real32_T)fabs((real_T)dx_hand_model_my_acos(xD1,
1406 localB)) + (real32_T)fabs((real_T)dx_hand_model_my_acos(localB->LDF, localB)))
1407 + (real32_T)fabs((real_T)dx_hand_model_my_acos(localB->LBD, localB)));
1408
1409 /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */
1410 xD = (xD - (real32_T)cos((real_T)((rtu_u_l - localB->LBD) - localB->qK)) *
1411 rtu_measurements[7]) + (real32_T)sin((real_T)((rtu_u_l - localB->LBD) -
1412 localB->qK)) * rtu_measurements[12];
1413 yD = (yD - (real32_T)sin((real_T)((rtu_u_l - localB->LBD) - localB->qK)) *
1414 rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_u_l - localB->LBD) -
1415 localB->qK)) * rtu_measurements[12];
1416 localB->LDF = xD - yI;
1417 temp = yD - LLI;
1418 localB->LDF = (real32_T)sqrt((real_T)(localB->LDF * localB->LDF + temp * temp));
1419 temp = localB->LDF * localB->LDF - temp_tmp;
1420 if (temp < 0.0F) {
1421 temp = 0.0F;
1422 }
1423
1424 temp = (real32_T)sqrt((real_T)temp);
1425 localB->LDF = ((-((rtu_measurements[0] + 13.5F) * (rtu_measurements[0] + 13.5F))
1426 + localB->LDF * localB->LDF) + temp * temp) / (2.0F * temp *
1427 localB->LDF);
1428 if ((real32_T)fabs((real_T)localB->LDF) > 1.0F) {
1429 localB->LDF = 1.0F;
1430 }
1431
1432 localB->y[0] = localB->xC;
1433 localB->y[1] = (rt_atan2f_snf(LLI - yD, yI - xD) + (real32_T)fabs((real_T)
1434 dx_hand_model_my_acos(localB->LDF, localB))) - localB->xC;
1435 localB->y[2] = localB->qK;
1436 localB->y[3] = localB->LBD;
1437 localB->y[4] = 3.14159274F - ((real32_T)fabs((real_T)dx_hand_model_my_acos
1438 (localB->xH, localB)) + (real32_T)fabs((real_T)dx_hand_model_my_acos
1439 (localB->yH, localB)));
1440
1441 /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */
1442 localB->y[5] = dx_hand_model_my_acos(((-(localB->LAK * localB->LAK) +
1443 localB->LKN * localB->LKN) + a_tmp * a_tmp) / ((rtu_u + rtu_measurements[17])
1444 * 2.0F * localB->LKN), localB);
1445 localB->y[6] = localB->LKH;
1446 localB->y[7] = temp;
1447}
1448
1449/*
1450 * Output and update for atomic system:
1451 * '<S82>/Classic_Static_Problem'
1452 * '<S129>/Classic_Static_Problem'
1453 * '<S174>/Classic_Static_Problem'
1454 */
1455void dx_Classic_Static_Problem_d(const real32_T rtu_Jcomponents[4], real32_T
1456 rtu_force_vector, real32_T rtu_force_vector_p, B_Classic_Static_Problem_dx_k_T
1457 *localB)
1458{
1459 /* SignalConversion: '<S104>/TmpSignal ConversionAt SFunction Inport2' */
1460 localB->y = rtu_Jcomponents[0] * rtu_force_vector + rtu_Jcomponents[2] *
1461 rtu_force_vector_p;
1462}
1463
1464/*
1465 * Output and update for atomic system:
1466 * '<S84>/IsNan '
1467 * '<S131>/IsNan '
1468 * '<S176>/IsNan '
1469 */
1470void dx_hand_model_IsNan(const real32_T rtu_Jin[4], const real32_T rtu_J_k1[4],
1471 B_IsNan_dx_hand_model_T *localB)
1472{
1473 real32_T Jin;
1474 Jin = rtu_Jin[0];
1475 if (rtIsInfF(rtu_Jin[0]) || rtIsNaNF(rtu_Jin[0])) {
1476 Jin = rtu_J_k1[0];
1477 }
1478
1479 localB->J[0] = Jin;
1480 Jin = rtu_Jin[1];
1481 if (rtIsInfF(rtu_Jin[1]) || rtIsNaNF(rtu_Jin[1])) {
1482 Jin = rtu_J_k1[1];
1483 }
1484
1485 localB->J[1] = Jin;
1486 Jin = rtu_Jin[2];
1487 if (rtIsInfF(rtu_Jin[2]) || rtIsNaNF(rtu_Jin[2])) {
1488 Jin = rtu_J_k1[2];
1489 }
1490
1491 localB->J[2] = Jin;
1492 Jin = rtu_Jin[3];
1493 if (rtIsInfF(rtu_Jin[3]) || rtIsNaNF(rtu_Jin[3])) {
1494 Jin = rtu_J_k1[3];
1495 }
1496
1497 localB->J[3] = Jin;
1498}
1499
1500/*
1501 * Output and update for atomic system:
1502 * '<S242>/MATLAB Function1'
1503 * '<S242>/MATLAB Function2'
1504 * '<S243>/MATLAB Function'
1505 * '<S243>/MATLAB Function1'
1506 * '<S243>/MATLAB Function2'
1507 * '<S233>/MATLAB Function2'
1508 */
1509void dx_hand_mod_MATLABFunction1(const real32_T rtu_u[4],
1510 B_MATLABFunction1_dx_hand_mod_T *localB)
1511{
1512 localB->x = rtu_u[0];
1513 localB->y = rtu_u[1];
1514 localB->z = rtu_u[2];
1515}
1516
1517/*
1518 * Output and update for atomic system:
1519 * '<S242>/MATLAB Function3'
1520 * '<S233>/MATLAB Function1'
1521 * '<S233>/MATLAB Function3'
1522 */
1523void dx_hand_mod_MATLABFunction3(const real32_T rtu_u[3],
1524 B_MATLABFunction3_dx_hand_mod_T *localB)
1525{
1526 localB->x = rtu_u[0];
1527 localB->y = rtu_u[1];
1528 localB->z = rtu_u[2];
1529}
1530
1531/*
1532 * Output and update for atomic system:
1533 * '<S233>/MATLAB Function4'
1534 * '<S233>/MATLAB Function5'
1535 */
1536void dx_hand_m_MATLABFunction4_o(real32_T rtu_u, real32_T rtu_u_i, real32_T
1537 rtu_u_g, B_MATLABFunction4_dx_hand_m_c_T *localB)
1538{
1539 /* SignalConversion: '<S306>/TmpSignal ConversionAt SFunction Inport1' */
1540 localB->x = rtu_u;
1541 localB->y = rtu_u_i;
1542 localB->z = rtu_u_g;
1543}
1544
1545static real32_T dx_hand_model_rt_hypotf_snf(real32_T u0, real32_T u1)
1546{
1547 real32_T y;
1548 dx_hand_model_B.a = (real32_T)fabs((real_T)u0);
1549 y = (real32_T)fabs((real_T)u1);
1550 if (dx_hand_model_B.a < y) {
1551 dx_hand_model_B.a /= y;
1552 y *= (real32_T)sqrt((real_T)(dx_hand_model_B.a * dx_hand_model_B.a + 1.0F));
1553 } else if (dx_hand_model_B.a > y) {
1554 y /= dx_hand_model_B.a;
1555 y = (real32_T)sqrt((real_T)(y * y + 1.0F)) * dx_hand_model_B.a;
1556 } else {
1557 if (!rtIsNaNF(y)) {
1558 y = dx_hand_model_B.a * 1.41421354F;
1559 }
1560 }
1561
1562 return y;
1563}
1564
1565/* Function for MATLAB Function: '<S37>/Index Direct Kinematics' */
1566static void dx_hand_model_sqrt_k(creal32_T *x)
1567{
1568 dx_hand_model_B.xr_m = x->re;
1569 if (x->im == 0.0F) {
1570 if (x->re < 0.0F) {
1571 dx_hand_model_B.absxr_f = 0.0F;
1572 dx_hand_model_B.xr_m = (real32_T)sqrt((real_T)-x->re);
1573 } else {
1574 dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)x->re);
1575 dx_hand_model_B.xr_m = 0.0F;
1576 }
1577 } else if (x->re == 0.0F) {
1578 if (x->im < 0.0F) {
1579 dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)(-x->im / 2.0F));
1580 dx_hand_model_B.xr_m = -dx_hand_model_B.absxr_f;
1581 } else {
1582 dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)(x->im / 2.0F));
1583 dx_hand_model_B.xr_m = dx_hand_model_B.absxr_f;
1584 }
1585 } else if (rtIsNaNF(x->re)) {
1586 dx_hand_model_B.absxr_f = x->re;
1587 } else if (rtIsNaNF(x->im)) {
1588 dx_hand_model_B.absxr_f = x->im;
1589 dx_hand_model_B.xr_m = x->im;
1590 } else if (rtIsInfF(x->im)) {
1591 dx_hand_model_B.absxr_f = (real32_T)fabs((real_T)x->im);
1592 dx_hand_model_B.xr_m = x->im;
1593 } else if (rtIsInfF(x->re)) {
1594 if (x->re < 0.0F) {
1595 dx_hand_model_B.absxr_f = 0.0F;
1596 dx_hand_model_B.xr_m = x->im * -x->re;
1597 } else {
1598 dx_hand_model_B.absxr_f = x->re;
1599 dx_hand_model_B.xr_m = 0.0F;
1600 }
1601 } else {
1602 dx_hand_model_B.absxr_f = (real32_T)fabs((real_T)x->re);
1603 dx_hand_model_B.xr_m = (real32_T)fabs((real_T)x->im);
1604 if ((dx_hand_model_B.absxr_f > 8.50705867E+37F) || (dx_hand_model_B.xr_m >
1605 8.50705867E+37F)) {
1606 dx_hand_model_B.absxr_f *= 0.5F;
1607 dx_hand_model_B.xr_m = dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_f,
1608 dx_hand_model_B.xr_m * 0.5F);
1609 if (dx_hand_model_B.xr_m > dx_hand_model_B.absxr_f) {
1610 dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)
1611 (dx_hand_model_B.absxr_f / dx_hand_model_B.xr_m + 1.0F)) * (real32_T)
1612 sqrt((real_T)dx_hand_model_B.xr_m);
1613 } else {
1614 dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)dx_hand_model_B.xr_m) *
1615 1.41421354F;
1616 }
1617 } else {
1618 dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)
1619 ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_f,
1620 dx_hand_model_B.xr_m) + dx_hand_model_B.absxr_f) * 0.5F));
1621 }
1622
1623 if (x->re > 0.0F) {
1624 dx_hand_model_B.xr_m = x->im / dx_hand_model_B.absxr_f * 0.5F;
1625 } else {
1626 if (x->im < 0.0F) {
1627 dx_hand_model_B.xr_m = -dx_hand_model_B.absxr_f;
1628 } else {
1629 dx_hand_model_B.xr_m = dx_hand_model_B.absxr_f;
1630 }
1631
1632 dx_hand_model_B.absxr_f = x->im / dx_hand_model_B.xr_m * 0.5F;
1633 }
1634 }
1635
1636 x->re = dx_hand_model_B.absxr_f;
1637 x->im = dx_hand_model_B.xr_m;
1638}
1639
1640/* Function for MATLAB Function: '<S37>/Index Direct Kinematics' */
1641static real32_T dx_hand_model_rescale_b(real32_T *re, real32_T *im)
1642{
1643 real32_T scale;
1644 scale = (real32_T)fabs((real_T)*re);
1645 dx_hand_model_B.absim_e = (real32_T)fabs((real_T)*im);
1646 if (scale > dx_hand_model_B.absim_e) {
1647 if (*re < 0.0F) {
1648 *re = -1.0F;
1649 } else {
1650 *re = 1.0F;
1651 }
1652
1653 *im /= scale;
1654 } else if (dx_hand_model_B.absim_e > scale) {
1655 *re /= dx_hand_model_B.absim_e;
1656 if (*im < 0.0F) {
1657 *im = -1.0F;
1658 } else {
1659 *im = 1.0F;
1660 }
1661
1662 scale = dx_hand_model_B.absim_e;
1663 } else {
1664 if (*re < 0.0F) {
1665 *re = -1.0F;
1666 } else {
1667 *re = 1.0F;
1668 }
1669
1670 if (*im < 0.0F) {
1671 *im = -1.0F;
1672 } else {
1673 *im = 1.0F;
1674 }
1675 }
1676
1677 return scale;
1678}
1679
1680static real32_T dx_hand_model_rt_atan2f_snf(real32_T u0, real32_T u1)
1681{
1682 real32_T y;
1683 if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
1684 y = (rtNaNF);
1685 } else if (rtIsInfF(u0) && rtIsInfF(u1)) {
1686 if (u0 > 0.0F) {
1687 dx_hand_model_B.u0_n = 1;
1688 } else {
1689 dx_hand_model_B.u0_n = -1;
1690 }
1691
1692 if (u1 > 0.0F) {
1693 dx_hand_model_B.u1_p = 1;
1694 } else {
1695 dx_hand_model_B.u1_p = -1;
1696 }
1697
1698 y = (real32_T)atan2((real_T)(real32_T)dx_hand_model_B.u0_n, (real_T)
1699 (real32_T)dx_hand_model_B.u1_p);
1700 } else if (u1 == 0.0F) {
1701 if (u0 > 0.0F) {
1702 y = RT_PIF / 2.0F;
1703 } else if (u0 < 0.0F) {
1704 y = -(RT_PIF / 2.0F);
1705 } else {
1706 y = 0.0F;
1707 }
1708 } else {
1709 y = (real32_T)atan2((real_T)u0, (real_T)u1);
1710 }
1711
1712 return y;
1713}
1714
1715/* Function for MATLAB Function: '<S37>/Index Direct Kinematics' */
1716static real32_T dx_hand_model_my_acos_e(real32_T x)
1717{
1718 if (!((real32_T)fabs((real_T)x) > 1.0F)) {
1719 dx_hand_model_B.t.re = (real32_T)acos((real_T)x);
1720 } else {
1721 dx_hand_model_B.v_e.re = 1.0F + x;
1722 dx_hand_model_B.v_e.im = 0.0F;
1723 dx_hand_model_sqrt_k(&dx_hand_model_B.v_e);
1724 dx_hand_model_B.t.re = 1.0F - x;
1725 dx_hand_model_B.t.im = 0.0F;
1726 dx_hand_model_sqrt_k(&dx_hand_model_B.t);
1727 if (!((-dx_hand_model_B.v_e.im == 0.0F) && (dx_hand_model_B.t.im == 0.0F)))
1728 {
1729 dx_hand_model_B.b_ci_b = dx_hand_model_B.v_e.re * dx_hand_model_B.t.im +
1730 -dx_hand_model_B.v_e.im * dx_hand_model_B.t.re;
1731 if ((!((!rtIsInfF(dx_hand_model_B.b_ci_b)) && (!rtIsNaNF
1732 (dx_hand_model_B.b_ci_b)))) && (!rtIsNaNF(dx_hand_model_B.v_e.re)) &&
1733 (!rtIsNaNF(-dx_hand_model_B.v_e.im)) && (!rtIsNaNF
1734 (dx_hand_model_B.t.re)) && (!rtIsNaNF(dx_hand_model_B.t.im))) {
1735 dx_hand_model_B.b_ci_b = dx_hand_model_B.v_e.re;
1736 dx_hand_model_B.sai_g = -dx_hand_model_B.v_e.im;
1737 dx_hand_model_rescale_b(&dx_hand_model_B.b_ci_b, &dx_hand_model_B.sai_g);
1738 dx_hand_model_B.b_ci_b = dx_hand_model_B.t.re;
1739 dx_hand_model_B.sai_g = dx_hand_model_B.t.im;
1740 dx_hand_model_rescale_b(&dx_hand_model_B.b_ci_b, &dx_hand_model_B.sai_g);
1741 }
1742 }
1743
1744 dx_hand_model_B.t.re = 2.0F * dx_hand_model_rt_atan2f_snf
1745 (dx_hand_model_B.t.re, dx_hand_model_B.v_e.re);
1746 }
1747
1748 return dx_hand_model_B.t.re;
1749}
1750
1751/* Function for MATLAB Function: '<S231>/get_Angles' */
1752static void dx_hand_model_sqrt_kq(creal32_T *x)
1753{
1754 dx_hand_model_B.xr_d = x->re;
1755 if (x->im == 0.0F) {
1756 if (x->re < 0.0F) {
1757 dx_hand_model_B.absxr_a = 0.0F;
1758 dx_hand_model_B.xr_d = (real32_T)sqrt((real_T)-x->re);
1759 } else {
1760 dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)x->re);
1761 dx_hand_model_B.xr_d = 0.0F;
1762 }
1763 } else if (x->re == 0.0F) {
1764 if (x->im < 0.0F) {
1765 dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)(-x->im / 2.0F));
1766 dx_hand_model_B.xr_d = -dx_hand_model_B.absxr_a;
1767 } else {
1768 dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)(x->im / 2.0F));
1769 dx_hand_model_B.xr_d = dx_hand_model_B.absxr_a;
1770 }
1771 } else if (rtIsNaNF(x->re)) {
1772 dx_hand_model_B.absxr_a = x->re;
1773 } else if (rtIsNaNF(x->im)) {
1774 dx_hand_model_B.absxr_a = x->im;
1775 dx_hand_model_B.xr_d = x->im;
1776 } else if (rtIsInfF(x->im)) {
1777 dx_hand_model_B.absxr_a = (real32_T)fabs((real_T)x->im);
1778 dx_hand_model_B.xr_d = x->im;
1779 } else if (rtIsInfF(x->re)) {
1780 if (x->re < 0.0F) {
1781 dx_hand_model_B.absxr_a = 0.0F;
1782 dx_hand_model_B.xr_d = x->im * -x->re;
1783 } else {
1784 dx_hand_model_B.absxr_a = x->re;
1785 dx_hand_model_B.xr_d = 0.0F;
1786 }
1787 } else {
1788 dx_hand_model_B.absxr_a = (real32_T)fabs((real_T)x->re);
1789 dx_hand_model_B.xr_d = (real32_T)fabs((real_T)x->im);
1790 if ((dx_hand_model_B.absxr_a > 8.50705867E+37F) || (dx_hand_model_B.xr_d >
1791 8.50705867E+37F)) {
1792 dx_hand_model_B.absxr_a *= 0.5F;
1793 dx_hand_model_B.xr_d = dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_a,
1794 dx_hand_model_B.xr_d * 0.5F);
1795 if (dx_hand_model_B.xr_d > dx_hand_model_B.absxr_a) {
1796 dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)
1797 (dx_hand_model_B.absxr_a / dx_hand_model_B.xr_d + 1.0F)) * (real32_T)
1798 sqrt((real_T)dx_hand_model_B.xr_d);
1799 } else {
1800 dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)dx_hand_model_B.xr_d) *
1801 1.41421354F;
1802 }
1803 } else {
1804 dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)
1805 ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_a,
1806 dx_hand_model_B.xr_d) + dx_hand_model_B.absxr_a) * 0.5F));
1807 }
1808
1809 if (x->re > 0.0F) {
1810 dx_hand_model_B.xr_d = x->im / dx_hand_model_B.absxr_a * 0.5F;
1811 } else {
1812 if (x->im < 0.0F) {
1813 dx_hand_model_B.xr_d = -dx_hand_model_B.absxr_a;
1814 } else {
1815 dx_hand_model_B.xr_d = dx_hand_model_B.absxr_a;
1816 }
1817
1818 dx_hand_model_B.absxr_a = x->im / dx_hand_model_B.xr_d * 0.5F;
1819 }
1820 }
1821
1822 x->re = dx_hand_model_B.absxr_a;
1823 x->im = dx_hand_model_B.xr_d;
1824}
1825
1826/* Function for MATLAB Function: '<S231>/get_Angles' */
1827static real32_T dx_hand_model_rescale_e(real32_T *re, real32_T *im)
1828{
1829 real32_T scale;
1830 scale = (real32_T)fabs((real_T)*re);
1831 dx_hand_model_B.absim_b = (real32_T)fabs((real_T)*im);
1832 if (scale > dx_hand_model_B.absim_b) {
1833 if (*re < 0.0F) {
1834 *re = -1.0F;
1835 } else {
1836 *re = 1.0F;
1837 }
1838
1839 *im /= scale;
1840 } else if (dx_hand_model_B.absim_b > scale) {
1841 *re /= dx_hand_model_B.absim_b;
1842 if (*im < 0.0F) {
1843 *im = -1.0F;
1844 } else {
1845 *im = 1.0F;
1846 }
1847
1848 scale = dx_hand_model_B.absim_b;
1849 } else {
1850 if (*re < 0.0F) {
1851 *re = -1.0F;
1852 } else {
1853 *re = 1.0F;
1854 }
1855
1856 if (*im < 0.0F) {
1857 *im = -1.0F;
1858 } else {
1859 *im = 1.0F;
1860 }
1861 }
1862
1863 return scale;
1864}
1865
1866/* Function for MATLAB Function: '<S231>/get_Angles' */
1867static void dx_hand_model_acos(creal32_T *x)
1868{
1869 if ((x->im == 0.0F) && (!((real32_T)fabs((real_T)x->re) > 1.0F))) {
1870 x->re = (real32_T)acos((real_T)x->re);
1871 x->im = 0.0F;
1872 } else {
1873 dx_hand_model_B.v.re = 1.0F + x->re;
1874 dx_hand_model_B.v.im = x->im;
1875 dx_hand_model_sqrt_kq(&dx_hand_model_B.v);
1876 dx_hand_model_B.u.re = 1.0F - x->re;
1877 dx_hand_model_B.u.im = 0.0F - x->im;
1878 dx_hand_model_sqrt_kq(&dx_hand_model_B.u);
1879 if ((-dx_hand_model_B.v.im == 0.0F) && (dx_hand_model_B.u.im == 0.0F)) {
1880 dx_hand_model_B.b_ci = 0.0F;
1881 } else {
1882 dx_hand_model_B.b_ci_tmp = dx_hand_model_B.v.re * dx_hand_model_B.u.im;
1883 dx_hand_model_B.t4_c = -dx_hand_model_B.v.im * dx_hand_model_B.u.re;
1884 dx_hand_model_B.b_ci = dx_hand_model_B.b_ci_tmp + dx_hand_model_B.t4_c;
1885 if ((!((!rtIsInfF(dx_hand_model_B.b_ci)) && (!rtIsNaNF
1886 (dx_hand_model_B.b_ci)))) && (!rtIsNaNF(dx_hand_model_B.v.re)) && (
1887 !rtIsNaNF(-dx_hand_model_B.v.im)) && (!rtIsNaNF(dx_hand_model_B.u.re))
1888 && (!rtIsNaNF(dx_hand_model_B.u.im))) {
1889 dx_hand_model_B.sar = dx_hand_model_B.v.re;
1890 dx_hand_model_B.sai = -dx_hand_model_B.v.im;
1891 dx_hand_model_B.scaleA = dx_hand_model_rescale_e(&dx_hand_model_B.sar,
1892 &dx_hand_model_B.sai);
1893 dx_hand_model_B.sbr = dx_hand_model_B.u.re;
1894 dx_hand_model_B.sbi = dx_hand_model_B.u.im;
1895 dx_hand_model_B.scaleB = dx_hand_model_rescale_e(&dx_hand_model_B.sbr,
1896 &dx_hand_model_B.sbi);
1897 if ((!rtIsInfF(dx_hand_model_B.scaleA)) && (!rtIsNaNF
1898 (dx_hand_model_B.scaleA)) && ((!rtIsInfF(dx_hand_model_B.scaleB)) &&
1899 (!rtIsNaNF(dx_hand_model_B.scaleB)))) {
1900 dx_hand_model_B.xneg_j = true;
1901 } else {
1902 dx_hand_model_B.xneg_j = false;
1903 }
1904
1905 if (rtIsNaNF(dx_hand_model_B.b_ci) || (rtIsInfF(dx_hand_model_B.b_ci) &&
1906 dx_hand_model_B.xneg_j)) {
1907 dx_hand_model_B.b_ci = dx_hand_model_B.sar * dx_hand_model_B.sbi +
1908 dx_hand_model_B.sai * dx_hand_model_B.sbr;
1909 if (dx_hand_model_B.b_ci != 0.0F) {
1910 dx_hand_model_B.b_ci = dx_hand_model_B.b_ci * dx_hand_model_B.scaleA
1911 * dx_hand_model_B.scaleB;
1912 } else {
1913 if ((rtIsInfF(dx_hand_model_B.scaleA) && ((dx_hand_model_B.u.re ==
1914 0.0F) || (dx_hand_model_B.u.im == 0.0F))) || (rtIsInfF
1915 (dx_hand_model_B.scaleB) && ((dx_hand_model_B.v.re == 0.0F) ||
1916 (-dx_hand_model_B.v.im == 0.0F)))) {
1917 dx_hand_model_B.b_ci = dx_hand_model_B.b_ci_tmp;
1918 if (rtIsNaNF(dx_hand_model_B.b_ci_tmp)) {
1919 dx_hand_model_B.b_ci = 0.0F;
1920 }
1921
1922 if (rtIsNaNF(dx_hand_model_B.t4_c)) {
1923 dx_hand_model_B.t4_c = 0.0F;
1924 }
1925
1926 dx_hand_model_B.b_ci += dx_hand_model_B.t4_c;
1927 }
1928 }
1929 }
1930 }
1931 }
1932
1933 dx_hand_model_B.xneg_j = (dx_hand_model_B.b_ci < 0.0F);
1934 if (dx_hand_model_B.xneg_j) {
1935 dx_hand_model_B.b_ci = -dx_hand_model_B.b_ci;
1936 }
1937
1938 if (dx_hand_model_B.b_ci >= 2.68435456E+8F) {
1939 dx_hand_model_B.b_ci = (real32_T)log((real_T)dx_hand_model_B.b_ci) +
1940 0.693147182F;
1941 } else if (dx_hand_model_B.b_ci > 2.0F) {
1942 dx_hand_model_B.b_ci = (real32_T)log((real_T)(1.0F / ((real32_T)sqrt
1943 ((real_T)(dx_hand_model_B.b_ci * dx_hand_model_B.b_ci + 1.0F)) +
1944 dx_hand_model_B.b_ci) + 2.0F * dx_hand_model_B.b_ci));
1945 } else {
1946 dx_hand_model_B.b_ci_tmp = dx_hand_model_B.b_ci * dx_hand_model_B.b_ci;
1947 dx_hand_model_B.b_ci += dx_hand_model_B.b_ci_tmp / ((real32_T)sqrt((real_T)
1948 (1.0F + dx_hand_model_B.b_ci_tmp)) + 1.0F);
1949 dx_hand_model_B.t4_c = (real32_T)fabs((real_T)dx_hand_model_B.b_ci);
1950 if ((dx_hand_model_B.t4_c > 8.388608E+6F) || (!((!rtIsInfF
1951 (dx_hand_model_B.b_ci)) && (!rtIsNaNF(dx_hand_model_B.b_ci))))) {
1952 dx_hand_model_B.b_ci = (real32_T)log((real_T)(1.0F +
1953 dx_hand_model_B.b_ci));
1954 } else {
1955 if (!(dx_hand_model_B.t4_c < 1.1920929E-7F)) {
1956 dx_hand_model_B.b_ci = dx_hand_model_B.b_ci / ((1.0F +
1957 dx_hand_model_B.b_ci) - 1.0F) * (real32_T)log((real_T)(1.0F +
1958 dx_hand_model_B.b_ci));
1959 }
1960 }
1961 }
1962
1963 if (dx_hand_model_B.xneg_j) {
1964 dx_hand_model_B.b_ci = -dx_hand_model_B.b_ci;
1965 }
1966
1967 x->re = 2.0F * dx_hand_model_rt_atan2f_snf(dx_hand_model_B.u.re,
1968 dx_hand_model_B.v.re);
1969 x->im = dx_hand_model_B.b_ci;
1970 }
1971}
1972
1973/* Function for MATLAB Function: '<S243>/MATLAB Function3' */
1974static void dx_hand_model_sqrt_l(creal32_T *x)
1975{
1976 dx_hand_model_B.xr_n = x->re;
1977 if (x->im == 0.0F) {
1978 if (x->re < 0.0F) {
1979 dx_hand_model_B.absxr_h = 0.0F;
1980 dx_hand_model_B.xr_n = (real32_T)sqrt((real_T)-x->re);
1981 } else {
1982 dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)x->re);
1983 dx_hand_model_B.xr_n = 0.0F;
1984 }
1985 } else if (x->re == 0.0F) {
1986 if (x->im < 0.0F) {
1987 dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)(-x->im / 2.0F));
1988 dx_hand_model_B.xr_n = -dx_hand_model_B.absxr_h;
1989 } else {
1990 dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)(x->im / 2.0F));
1991 dx_hand_model_B.xr_n = dx_hand_model_B.absxr_h;
1992 }
1993 } else if (rtIsNaNF(x->re)) {
1994 dx_hand_model_B.absxr_h = x->re;
1995 } else if (rtIsNaNF(x->im)) {
1996 dx_hand_model_B.absxr_h = x->im;
1997 dx_hand_model_B.xr_n = x->im;
1998 } else if (rtIsInfF(x->im)) {
1999 dx_hand_model_B.absxr_h = (real32_T)fabs((real_T)x->im);
2000 dx_hand_model_B.xr_n = x->im;
2001 } else if (rtIsInfF(x->re)) {
2002 if (x->re < 0.0F) {
2003 dx_hand_model_B.absxr_h = 0.0F;
2004 dx_hand_model_B.xr_n = x->im * -x->re;
2005 } else {
2006 dx_hand_model_B.absxr_h = x->re;
2007 dx_hand_model_B.xr_n = 0.0F;
2008 }
2009 } else {
2010 dx_hand_model_B.absxr_h = (real32_T)fabs((real_T)x->re);
2011 dx_hand_model_B.xr_n = (real32_T)fabs((real_T)x->im);
2012 if ((dx_hand_model_B.absxr_h > 8.50705867E+37F) || (dx_hand_model_B.xr_n >
2013 8.50705867E+37F)) {
2014 dx_hand_model_B.absxr_h *= 0.5F;
2015 dx_hand_model_B.xr_n = dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_h,
2016 dx_hand_model_B.xr_n * 0.5F);
2017 if (dx_hand_model_B.xr_n > dx_hand_model_B.absxr_h) {
2018 dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)
2019 (dx_hand_model_B.absxr_h / dx_hand_model_B.xr_n + 1.0F)) * (real32_T)
2020 sqrt((real_T)dx_hand_model_B.xr_n);
2021 } else {
2022 dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)dx_hand_model_B.xr_n) *
2023 1.41421354F;
2024 }
2025 } else {
2026 dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)
2027 ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_h,
2028 dx_hand_model_B.xr_n) + dx_hand_model_B.absxr_h) * 0.5F));
2029 }
2030
2031 if (x->re > 0.0F) {
2032 dx_hand_model_B.xr_n = x->im / dx_hand_model_B.absxr_h * 0.5F;
2033 } else {
2034 if (x->im < 0.0F) {
2035 dx_hand_model_B.xr_n = -dx_hand_model_B.absxr_h;
2036 } else {
2037 dx_hand_model_B.xr_n = dx_hand_model_B.absxr_h;
2038 }
2039
2040 dx_hand_model_B.absxr_h = x->im / dx_hand_model_B.xr_n * 0.5F;
2041 }
2042 }
2043
2044 x->re = dx_hand_model_B.absxr_h;
2045 x->im = dx_hand_model_B.xr_n;
2046}
2047
2048/* Function for MATLAB Function: '<S242>/MATLAB Function' */
2049static void dx_hand_model_sqrt_e(creal32_T *x)
2050{
2051 dx_hand_model_B.xr_p = x->re;
2052 if (x->im == 0.0F) {
2053 if (x->re < 0.0F) {
2054 dx_hand_model_B.absxr_at = 0.0F;
2055 dx_hand_model_B.xr_p = (real32_T)sqrt((real_T)-x->re);
2056 } else {
2057 dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)x->re);
2058 dx_hand_model_B.xr_p = 0.0F;
2059 }
2060 } else if (x->re == 0.0F) {
2061 if (x->im < 0.0F) {
2062 dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)(-x->im / 2.0F));
2063 dx_hand_model_B.xr_p = -dx_hand_model_B.absxr_at;
2064 } else {
2065 dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)(x->im / 2.0F));
2066 dx_hand_model_B.xr_p = dx_hand_model_B.absxr_at;
2067 }
2068 } else if (rtIsNaNF(x->re)) {
2069 dx_hand_model_B.absxr_at = x->re;
2070 } else if (rtIsNaNF(x->im)) {
2071 dx_hand_model_B.absxr_at = x->im;
2072 dx_hand_model_B.xr_p = x->im;
2073 } else if (rtIsInfF(x->im)) {
2074 dx_hand_model_B.absxr_at = (real32_T)fabs((real_T)x->im);
2075 dx_hand_model_B.xr_p = x->im;
2076 } else if (rtIsInfF(x->re)) {
2077 if (x->re < 0.0F) {
2078 dx_hand_model_B.absxr_at = 0.0F;
2079 dx_hand_model_B.xr_p = x->im * -x->re;
2080 } else {
2081 dx_hand_model_B.absxr_at = x->re;
2082 dx_hand_model_B.xr_p = 0.0F;
2083 }
2084 } else {
2085 dx_hand_model_B.absxr_at = (real32_T)fabs((real_T)x->re);
2086 dx_hand_model_B.xr_p = (real32_T)fabs((real_T)x->im);
2087 if ((dx_hand_model_B.absxr_at > 8.50705867E+37F) || (dx_hand_model_B.xr_p >
2088 8.50705867E+37F)) {
2089 dx_hand_model_B.absxr_at *= 0.5F;
2090 dx_hand_model_B.xr_p = dx_hand_model_rt_hypotf_snf
2091 (dx_hand_model_B.absxr_at, dx_hand_model_B.xr_p * 0.5F);
2092 if (dx_hand_model_B.xr_p > dx_hand_model_B.absxr_at) {
2093 dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)
2094 (dx_hand_model_B.absxr_at / dx_hand_model_B.xr_p + 1.0F)) * (real32_T)
2095 sqrt((real_T)dx_hand_model_B.xr_p);
2096 } else {
2097 dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)dx_hand_model_B.xr_p) *
2098 1.41421354F;
2099 }
2100 } else {
2101 dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)
2102 ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_at,
2103 dx_hand_model_B.xr_p) + dx_hand_model_B.absxr_at) * 0.5F));
2104 }
2105
2106 if (x->re > 0.0F) {
2107 dx_hand_model_B.xr_p = x->im / dx_hand_model_B.absxr_at * 0.5F;
2108 } else {
2109 if (x->im < 0.0F) {
2110 dx_hand_model_B.xr_p = -dx_hand_model_B.absxr_at;
2111 } else {
2112 dx_hand_model_B.xr_p = dx_hand_model_B.absxr_at;
2113 }
2114
2115 dx_hand_model_B.absxr_at = x->im / dx_hand_model_B.xr_p * 0.5F;
2116 }
2117 }
2118
2119 x->re = dx_hand_model_B.absxr_at;
2120 x->im = dx_hand_model_B.xr_p;
2121}
2122
2123/* Function for MATLAB Function: '<S233>/Mother of Kinematics' */
2124static creal_T dx_hand_model_my_sqrt(real_T x)
2125{
2126 creal_T y;
2127 if (x < 0.0) {
2128 dx_hand_model_B.absxr = 0.0;
2129 dx_hand_model_B.xr_f = sqrt(-x);
2130 } else {
2131 dx_hand_model_B.absxr = sqrt(x);
2132 dx_hand_model_B.xr_f = 0.0;
2133 }
2134
2135 y.re = dx_hand_model_B.absxr;
2136 y.im = dx_hand_model_B.xr_f;
2137 return y;
2138}
2139
2140static real_T dx_hand_model_rt_atan2d_snf(real_T u0, real_T u1)
2141{
2142 real_T y;
2143 if (rtIsNaN(u0) || rtIsNaN(u1)) {
2144 y = (rtNaN);
2145 } else if (rtIsInf(u0) && rtIsInf(u1)) {
2146 if (u0 > 0.0) {
2147 dx_hand_model_B.u0 = 1;
2148 } else {
2149 dx_hand_model_B.u0 = -1;
2150 }
2151
2152 if (u1 > 0.0) {
2153 dx_hand_model_B.u1 = 1;
2154 } else {
2155 dx_hand_model_B.u1 = -1;
2156 }
2157
2158 y = atan2((real_T)dx_hand_model_B.u0, (real_T)dx_hand_model_B.u1);
2159 } else if (u1 == 0.0) {
2160 if (u0 > 0.0) {
2161 y = RT_PI / 2.0;
2162 } else if (u0 < 0.0) {
2163 y = -(RT_PI / 2.0);
2164 } else {
2165 y = 0.0;
2166 }
2167 } else {
2168 y = atan2(u0, u1);
2169 }
2170
2171 return y;
2172}
2173
2174/* Function for MATLAB Function: '<S233>/Mother of Kinematics' */
2175static void dx_hand_model_atan(creal_T x[2])
2176{
2177 if (x[0].im == 0.0) {
2178 dx_hand_model_B.xi = atan(x[0].re);
2179 dx_hand_model_B.xr = 0.0;
2180 } else {
2181 dx_hand_model_B.xr = fabs(-x[0].im);
2182 dx_hand_model_B.xi = fabs(x[0].re);
2183 if ((dx_hand_model_B.xr > 3.3519519824856489E+153) || (dx_hand_model_B.xi >
2184 3.3519519824856489E+153)) {
2185 if (dx_hand_model_B.xi == 0.0) {
2186 dx_hand_model_B.xr = 1.0 / dx_hand_model_B.xr;
2187 } else if (dx_hand_model_B.xr == 0.0) {
2188 dx_hand_model_B.xr = 0.0;
2189 } else if (dx_hand_model_B.xr > dx_hand_model_B.xi) {
2190 dx_hand_model_B.b_t = dx_hand_model_B.xi / dx_hand_model_B.xr;
2191 dx_hand_model_B.xr = (dx_hand_model_B.b_t * 0.0 + 1.0) /
2192 (dx_hand_model_B.b_t * dx_hand_model_B.xi + dx_hand_model_B.xr);
2193 } else if (dx_hand_model_B.xi == dx_hand_model_B.xr) {
2194 dx_hand_model_B.xr = ((dx_hand_model_B.xi > 0.0 ? 0.5 : -0.5) * 0.0 +
2195 (dx_hand_model_B.xr > 0.0 ? 0.5 : -0.5)) /
2196 dx_hand_model_B.xr;
2197 } else {
2198 dx_hand_model_B.b_t = dx_hand_model_B.xr / dx_hand_model_B.xi;
2199 dx_hand_model_B.xr = dx_hand_model_B.b_t / (dx_hand_model_B.b_t *
2200 dx_hand_model_B.xr + dx_hand_model_B.xi);
2201 }
2202
2203 dx_hand_model_B.xi = 1.5707963267948966;
2204 } else if ((dx_hand_model_B.xr == 1.0) && (dx_hand_model_B.xi == 0.0)) {
2205 dx_hand_model_B.xr = (rtInf);
2206 } else if (dx_hand_model_B.xr == 1.0) {
2207 dx_hand_model_B.xr = log(sqrt(sqrt(dx_hand_model_B.xi * dx_hand_model_B.xi
2208 + 4.0)) / sqrt(dx_hand_model_B.xi + 2.9833362924800834E-154));
2209 dx_hand_model_B.xi = (atan((dx_hand_model_B.xi + 2.9833362924800834E-154) /
2210 2.0) + 1.5707963267948966) / 2.0;
2211 } else if ((dx_hand_model_B.xi == 0.0) && (!(dx_hand_model_B.xr > 1.0))) {
2212 if (dx_hand_model_B.xr < 0.5) {
2213 dx_hand_model_B.b_t = dx_hand_model_B.xr + dx_hand_model_B.xr;
2214 dx_hand_model_B.xr = dx_hand_model_B.xr / (1.0 - dx_hand_model_B.xr) *
2215 dx_hand_model_B.b_t + dx_hand_model_B.b_t;
2216 if (!(dx_hand_model_B.xr < 2.2204460492503131E-16)) {
2217 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)
2218 - 1.0) * log(1.0 + dx_hand_model_B.xr);
2219 }
2220
2221 dx_hand_model_B.xr /= 2.0;
2222 } else if (dx_hand_model_B.xr == 1.0) {
2223 dx_hand_model_B.xr = (rtInf);
2224 } else {
2225 dx_hand_model_B.xr = (dx_hand_model_B.xr + dx_hand_model_B.xr) / (1.0 -
2226 dx_hand_model_B.xr);
2227 if ((dx_hand_model_B.xr > 4.503599627370496E+15) || rtIsNaN
2228 (dx_hand_model_B.xr)) {
2229 dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);
2230 } else {
2231 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)
2232 - 1.0) * log(1.0 + dx_hand_model_B.xr);
2233 }
2234
2235 dx_hand_model_B.xr /= 2.0;
2236 }
2237 } else {
2238 dx_hand_model_B.b_t = dx_hand_model_B.xi + 2.9833362924800834E-154;
2239 dx_hand_model_B.xi = dx_hand_model_rt_atan2d_snf(2.0 * dx_hand_model_B.xi,
2240 (1.0 - dx_hand_model_B.xr) * (1.0 + dx_hand_model_B.xr) -
2241 (dx_hand_model_B.xi + 2.9833362924800834E-154) * (dx_hand_model_B.xi +
2242 2.9833362924800834E-154)) / 2.0;
2243 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 - dx_hand_model_B.xr) *
2244 (1.0 - dx_hand_model_B.xr) + dx_hand_model_B.b_t * dx_hand_model_B.b_t) *
2245 4.0;
2246 dx_hand_model_B.b_t = fabs(dx_hand_model_B.xr);
2247 if ((dx_hand_model_B.b_t > 4.503599627370496E+15) || (!((!rtIsInf
2248 (dx_hand_model_B.xr)) && (!rtIsNaN(dx_hand_model_B.xr))))) {
2249 dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);
2250 } else {
2251 if (!(dx_hand_model_B.b_t < 2.2204460492503131E-16)) {
2252 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)
2253 - 1.0) * log(1.0 + dx_hand_model_B.xr);
2254 }
2255 }
2256
2257 dx_hand_model_B.xr /= 4.0;
2258 }
2259
2260 if (-x[0].im < 0.0) {
2261 dx_hand_model_B.xr = -dx_hand_model_B.xr;
2262 }
2263
2264 if ((x[0].re < 0.0) || ((x[0].re == 0.0) && (-x[0].im < -1.0))) {
2265 dx_hand_model_B.xi = -dx_hand_model_B.xi;
2266 }
2267
2268 dx_hand_model_B.xr = -dx_hand_model_B.xr;
2269 }
2270
2271 x[0].re = dx_hand_model_B.xi;
2272 x[0].im = dx_hand_model_B.xr;
2273 if (x[1].im == 0.0) {
2274 dx_hand_model_B.xi = atan(x[1].re);
2275 dx_hand_model_B.xr = 0.0;
2276 } else {
2277 dx_hand_model_B.xr = fabs(-x[1].im);
2278 dx_hand_model_B.xi = fabs(x[1].re);
2279 if ((dx_hand_model_B.xr > 3.3519519824856489E+153) || (dx_hand_model_B.xi >
2280 3.3519519824856489E+153)) {
2281 if (dx_hand_model_B.xi == 0.0) {
2282 dx_hand_model_B.xr = 1.0 / dx_hand_model_B.xr;
2283 } else if (dx_hand_model_B.xr == 0.0) {
2284 dx_hand_model_B.xr = 0.0;
2285 } else if (dx_hand_model_B.xr > dx_hand_model_B.xi) {
2286 dx_hand_model_B.b_t = dx_hand_model_B.xi / dx_hand_model_B.xr;
2287 dx_hand_model_B.xr = (dx_hand_model_B.b_t * 0.0 + 1.0) /
2288 (dx_hand_model_B.b_t * dx_hand_model_B.xi + dx_hand_model_B.xr);
2289 } else if (dx_hand_model_B.xi == dx_hand_model_B.xr) {
2290 dx_hand_model_B.xr = ((dx_hand_model_B.xi > 0.0 ? 0.5 : -0.5) * 0.0 +
2291 (dx_hand_model_B.xr > 0.0 ? 0.5 : -0.5)) /
2292 dx_hand_model_B.xr;
2293 } else {
2294 dx_hand_model_B.b_t = dx_hand_model_B.xr / dx_hand_model_B.xi;
2295 dx_hand_model_B.xr = dx_hand_model_B.b_t / (dx_hand_model_B.b_t *
2296 dx_hand_model_B.xr + dx_hand_model_B.xi);
2297 }
2298
2299 dx_hand_model_B.xi = 1.5707963267948966;
2300 } else if ((dx_hand_model_B.xr == 1.0) && (dx_hand_model_B.xi == 0.0)) {
2301 dx_hand_model_B.xr = (rtInf);
2302 } else if (dx_hand_model_B.xr == 1.0) {
2303 dx_hand_model_B.xr = log(sqrt(sqrt(dx_hand_model_B.xi * dx_hand_model_B.xi
2304 + 4.0)) / sqrt(dx_hand_model_B.xi + 2.9833362924800834E-154));
2305 dx_hand_model_B.xi = (atan((dx_hand_model_B.xi + 2.9833362924800834E-154) /
2306 2.0) + 1.5707963267948966) / 2.0;
2307 } else if ((dx_hand_model_B.xi == 0.0) && (!(dx_hand_model_B.xr > 1.0))) {
2308 if (dx_hand_model_B.xr < 0.5) {
2309 dx_hand_model_B.b_t = dx_hand_model_B.xr + dx_hand_model_B.xr;
2310 dx_hand_model_B.xr = dx_hand_model_B.xr / (1.0 - dx_hand_model_B.xr) *
2311 dx_hand_model_B.b_t + dx_hand_model_B.b_t;
2312 if (!(dx_hand_model_B.xr < 2.2204460492503131E-16)) {
2313 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)
2314 - 1.0) * log(1.0 + dx_hand_model_B.xr);
2315 }
2316
2317 dx_hand_model_B.xr /= 2.0;
2318 } else if (dx_hand_model_B.xr == 1.0) {
2319 dx_hand_model_B.xr = (rtInf);
2320 } else {
2321 dx_hand_model_B.xr = (dx_hand_model_B.xr + dx_hand_model_B.xr) / (1.0 -
2322 dx_hand_model_B.xr);
2323 if ((dx_hand_model_B.xr > 4.503599627370496E+15) || rtIsNaN
2324 (dx_hand_model_B.xr)) {
2325 dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);
2326 } else {
2327 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)
2328 - 1.0) * log(1.0 + dx_hand_model_B.xr);
2329 }
2330
2331 dx_hand_model_B.xr /= 2.0;
2332 }
2333 } else {
2334 dx_hand_model_B.b_t = dx_hand_model_B.xi + 2.9833362924800834E-154;
2335 dx_hand_model_B.xi = dx_hand_model_rt_atan2d_snf(2.0 * dx_hand_model_B.xi,
2336 (1.0 - dx_hand_model_B.xr) * (1.0 + dx_hand_model_B.xr) -
2337 (dx_hand_model_B.xi + 2.9833362924800834E-154) * (dx_hand_model_B.xi +
2338 2.9833362924800834E-154)) / 2.0;
2339 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 - dx_hand_model_B.xr) *
2340 (1.0 - dx_hand_model_B.xr) + dx_hand_model_B.b_t * dx_hand_model_B.b_t) *
2341 4.0;
2342 dx_hand_model_B.b_t = fabs(dx_hand_model_B.xr);
2343 if ((dx_hand_model_B.b_t > 4.503599627370496E+15) || (!((!rtIsInf
2344 (dx_hand_model_B.xr)) && (!rtIsNaN(dx_hand_model_B.xr))))) {
2345 dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);
2346 } else {
2347 if (!(dx_hand_model_B.b_t < 2.2204460492503131E-16)) {
2348 dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)
2349 - 1.0) * log(1.0 + dx_hand_model_B.xr);
2350 }
2351 }
2352
2353 dx_hand_model_B.xr /= 4.0;
2354 }
2355
2356 if (-x[1].im < 0.0) {
2357 dx_hand_model_B.xr = -dx_hand_model_B.xr;
2358 }
2359
2360 if ((x[1].re < 0.0) || ((x[1].re == 0.0) && (-x[1].im < -1.0))) {
2361 dx_hand_model_B.xi = -dx_hand_model_B.xi;
2362 }
2363
2364 dx_hand_model_B.xr = -dx_hand_model_B.xr;
2365 }
2366
2367 x[1].re = dx_hand_model_B.xi;
2368 x[1].im = dx_hand_model_B.xr;
2369}
2370
2371/* Function for MATLAB Function: '<S233>/Teorema Coseni' */
2372static void dx_hand_model_sqrt_c(creal32_T *x)
2373{
2374 dx_hand_model_B.xr_fb = x->re;
2375 if (x->im == 0.0F) {
2376 if (x->re < 0.0F) {
2377 dx_hand_model_B.absxr_c = 0.0F;
2378 dx_hand_model_B.xr_fb = (real32_T)sqrt((real_T)-x->re);
2379 } else {
2380 dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)x->re);
2381 dx_hand_model_B.xr_fb = 0.0F;
2382 }
2383 } else if (x->re == 0.0F) {
2384 if (x->im < 0.0F) {
2385 dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)(-x->im / 2.0F));
2386 dx_hand_model_B.xr_fb = -dx_hand_model_B.absxr_c;
2387 } else {
2388 dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)(x->im / 2.0F));
2389 dx_hand_model_B.xr_fb = dx_hand_model_B.absxr_c;
2390 }
2391 } else if (rtIsNaNF(x->re)) {
2392 dx_hand_model_B.absxr_c = x->re;
2393 } else if (rtIsNaNF(x->im)) {
2394 dx_hand_model_B.absxr_c = x->im;
2395 dx_hand_model_B.xr_fb = x->im;
2396 } else if (rtIsInfF(x->im)) {
2397 dx_hand_model_B.absxr_c = (real32_T)fabs((real_T)x->im);
2398 dx_hand_model_B.xr_fb = x->im;
2399 } else if (rtIsInfF(x->re)) {
2400 if (x->re < 0.0F) {
2401 dx_hand_model_B.absxr_c = 0.0F;
2402 dx_hand_model_B.xr_fb = x->im * -x->re;
2403 } else {
2404 dx_hand_model_B.absxr_c = x->re;
2405 dx_hand_model_B.xr_fb = 0.0F;
2406 }
2407 } else {
2408 dx_hand_model_B.absxr_c = (real32_T)fabs((real_T)x->re);
2409 dx_hand_model_B.xr_fb = (real32_T)fabs((real_T)x->im);
2410 if ((dx_hand_model_B.absxr_c > 8.50705867E+37F) || (dx_hand_model_B.xr_fb >
2411 8.50705867E+37F)) {
2412 dx_hand_model_B.absxr_c *= 0.5F;
2413 dx_hand_model_B.xr_fb = dx_hand_model_rt_hypotf_snf
2414 (dx_hand_model_B.absxr_c, dx_hand_model_B.xr_fb * 0.5F);
2415 if (dx_hand_model_B.xr_fb > dx_hand_model_B.absxr_c) {
2416 dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)
2417 (dx_hand_model_B.absxr_c / dx_hand_model_B.xr_fb + 1.0F)) * (real32_T)
2418 sqrt((real_T)dx_hand_model_B.xr_fb);
2419 } else {
2420 dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)dx_hand_model_B.xr_fb) *
2421 1.41421354F;
2422 }
2423 } else {
2424 dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)
2425 ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_c,
2426 dx_hand_model_B.xr_fb) + dx_hand_model_B.absxr_c) * 0.5F));
2427 }
2428
2429 if (x->re > 0.0F) {
2430 dx_hand_model_B.xr_fb = x->im / dx_hand_model_B.absxr_c * 0.5F;
2431 } else {
2432 if (x->im < 0.0F) {
2433 dx_hand_model_B.xr_fb = -dx_hand_model_B.absxr_c;
2434 } else {
2435 dx_hand_model_B.xr_fb = dx_hand_model_B.absxr_c;
2436 }
2437
2438 dx_hand_model_B.absxr_c = x->im / dx_hand_model_B.xr_fb * 0.5F;
2439 }
2440 }
2441
2442 x->re = dx_hand_model_B.absxr_c;
2443 x->im = dx_hand_model_B.xr_fb;
2444}
2445
2446/* Function for MATLAB Function: '<S233>/Teorema Coseni' */
2447static real32_T dx_hand_model_rescale_g(real32_T *re, real32_T *im)
2448{
2449 real32_T scale;
2450 scale = (real32_T)fabs((real_T)*re);
2451 dx_hand_model_B.absim = (real32_T)fabs((real_T)*im);
2452 if (scale > dx_hand_model_B.absim) {
2453 if (*re < 0.0F) {
2454 *re = -1.0F;
2455 } else {
2456 *re = 1.0F;
2457 }
2458
2459 *im /= scale;
2460 } else if (dx_hand_model_B.absim > scale) {
2461 *re /= dx_hand_model_B.absim;
2462 if (*im < 0.0F) {
2463 *im = -1.0F;
2464 } else {
2465 *im = 1.0F;
2466 }
2467
2468 scale = dx_hand_model_B.absim;
2469 } else {
2470 if (*re < 0.0F) {
2471 *re = -1.0F;
2472 } else {
2473 *re = 1.0F;
2474 }
2475
2476 if (*im < 0.0F) {
2477 *im = -1.0F;
2478 } else {
2479 *im = 1.0F;
2480 }
2481 }
2482
2483 return scale;
2484}
2485
2486/* Model step function for TID0 */
2487void dx_hand_model_step0(void) /* Sample time: [0.01s, 0.0s] */
2488{
2489 int_T tid = 0;
2490 char_T *sErr;
2491 static const int8_T b[4] = { 0, 0, 0, 1 };
2492
2493 static const real32_T c[16] = { 0.0F, -1.0F, 0.0F, 0.0F, 0.0F, 0.0F, -1.0F,
2494 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 33.5857F, -91.0F, 0.0F, 1.0F };
2495
2496 static const int8_T d[4] = { 0, 0, 0, 1 };
2497
2498 static const real32_T e[4] = { 0.0F, 1.0F, 6.12323426E-17F, 0.0F };
2499
2500 static const int8_T f[4] = { 0, 0, 1, 0 };
2501
2502 static const real32_T g[4] = { 0.0F, -1.0F, 6.12323426E-17F, 0.0F };
2503
2504 static const char_T b_0[24] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',
2505 'd', '_', 'T', 'h', 'u', 'm', 'b', '_', 'F', 'l', 'e', 'x', 'i', 'o', 'n' };
2506
2507 static const char_T c_0[27] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',
2508 'd', '_', 'T', 'h', 'u', 'm', 'b', '_', 'O', 'p', 'p', 'o', 's', 'i', 't',
2509 'i', 'o', 'n' };
2510
2511 static const char_T d_0[30] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',
2512 'd', '_', 'I', 'n', 'd', 'e', 'x', '_', 'F', 'i', 'n', 'g', 'e', 'r', '_',
2513 'D', 'i', 's', 't', 'a', 'l' };
2514
2515 static const char_T e_0[32] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',
2516 'd', '_', 'I', 'n', 'd', 'e', 'x', '_', 'F', 'i', 'n', 'g', 'e', 'r', '_',
2517 'P', 'r', 'o', 'x', 'i', 'm', 'a', 'l' };
2518
2519 static const char_T f_0[31] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',
2520 'd', '_', 'M', 'i', 'd', 'd', 'l', 'e', '_', 'F', 'i', 'n', 'g', 'e', 'r',
2521 '_', 'D', 'i', 's', 't', 'a', 'l' };
2522
2523 static const char_T g_0[33] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',
2524 'd', '_', 'M', 'i', 'd', 'd', 'l', 'e', '_', 'F', 'i', 'n', 'g', 'e', 'r',
2525 '_', 'P', 'r', 'o', 'x', 'i', 'm', 'a', 'l' };
2526
2527 static const char_T h[22] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n', 'd',
2528 '_', 'R', 'i', 'n', 'g', '_', 'F', 'i', 'n', 'g', 'e', 'r' };
2529
2530 static const char_T i[16] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n', 'd',
2531 '_', 'P', 'i', 'n', 'k', 'y' };
2532
2533 static const char_T j[24] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n', 'd',
2534 '_', 'F', 'i', 'n', 'g', 'e', 'r', '_', 'S', 'p', 'r', 'e', 'a', 'd' };
2535
2536 boolean_T exitg1;
2537
2538 { /* Sample time: [0.01s, 0.0s] */
2539 rate_monotonic_scheduler();
2540 }
2541
2542 /* RateTransition: '<S33>/Rate Transition' */
2543 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
2544 dx_hand_model_B.RateTransition = dx_hand_model_DW.RateTransition_Buffer0;
2545 }
2546
2547 /* End of RateTransition: '<S33>/Rate Transition' */
2548
2549 /* DataTypeConversion: '<S33>/Data Type Conversion1' */
2550 dx_hand_model_B.Switch_n = (real32_T)dx_hand_model_B.RateTransition;
2551
2552 /* DiscreteTransferFcn: '<S39>/Filt 4' */
2553 dx_hand_model_B.k = 0;
2554 while (dx_hand_model_B.k < 4) {
2555 dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef[1] *
2556 dx_hand_model_DW.Filt4_states[dx_hand_model_B.k];
2557 dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;
2558 dx_hand_model_B.k++;
2559 }
2560
2561 /* RateTransition: '<S39>/Rate Transition' */
2562 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
2563 dx_hand_model_B.RateTransition_g = dx_hand_model_DW.RateTransition_Buffer0_p;
2564 }
2565
2566 /* End of RateTransition: '<S39>/Rate Transition' */
2567
2568 /* DataTypeConversion: '<S39>/Data Type Conversion1' */
2569 dx_hand_model_B.Product_k = (real32_T)dx_hand_model_B.RateTransition_g;
2570
2571 /* S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */
2572 sErr = GetErrorBuffer(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
2573 dx_hand_model_B.k = 108;
2574 LibOutputs_Network(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U],
2575 &dx_hand_model_B.ReceivefromHaptics_o1[0U],
2576 &dx_hand_model_B.k);
2577 if (*sErr != 0) {
2578 rtmSetErrorStatus(dx_hand_model_M, sErr);
2579 rtmSetStopRequested(dx_hand_model_M, 1);
2580 }
2581
2582 dx_hand_model_B.ReceivefromHaptics_o2 = (uint16_T)dx_hand_model_B.k;
2583
2584 /* S-Function (byte2any): '<S4>/Byte Unpack' */
2585
2586 /* Unpack: <S4>/Byte Unpack */
2587 (void) memcpy(&dx_hand_model_B.ByteUnpack[0],
2588 &dx_hand_model_B.ReceivefromHaptics_o1[0],
2589 108);
2590
2591 /* RateTransition: '<S4>/Rate Transition1' */
2592 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
2593 dx_hand_model_B.RateTransition1 = dx_hand_model_DW.RateTransition1_Buffer0;
2594 }
2595
2596 /* End of RateTransition: '<S4>/Rate Transition1' */
2597
2598 /* Delay: '<S4>/Delay' incorporates:
2599 * DataTypeConversion: '<S4>/Data Type Conversion6'
2600 */
2601 if (((real32_T)dx_hand_model_B.RateTransition1 < 1.0F) || rtIsNaNF((real32_T)
2602 dx_hand_model_B.RateTransition1)) {
2603 memcpy(&dx_hand_model_B.Delay_m[0], &dx_hand_model_B.ByteUnpack[0], 27U *
2604 sizeof(real32_T));
2605 } else {
2606 if ((real32_T)dx_hand_model_B.RateTransition1 > 100.0F) {
2607 dx_hand_model_B.u0_i = 100U;
2608 } else {
2609 if ((real32_T)dx_hand_model_B.RateTransition1 < 0.0F) {
2610 dx_hand_model_B.t4_o = (real32_T)ceil((real_T)(real32_T)
2611 dx_hand_model_B.RateTransition1);
2612 } else {
2613 dx_hand_model_B.t4_o = (real32_T)floor((real_T)(real32_T)
2614 dx_hand_model_B.RateTransition1);
2615 }
2616
2617 if (rtIsNaNF(dx_hand_model_B.t4_o) || rtIsInfF(dx_hand_model_B.t4_o)) {
2618 dx_hand_model_B.t4_o = 0.0F;
2619 } else {
2620 dx_hand_model_B.t4_o = (real32_T)fmod((real_T)dx_hand_model_B.t4_o,
2621 4.294967296E+9);
2622 }
2623
2624 dx_hand_model_B.u0_i = dx_hand_model_B.t4_o < 0.0F ? (uint32_T)-(int32_T)
2625 (uint32_T)-dx_hand_model_B.t4_o : (uint32_T)dx_hand_model_B.t4_o;
2626 }
2627
2628 dx_hand_model_B.i = (int32_T)(100U - dx_hand_model_B.u0_i) * 27;
2629 memcpy(&dx_hand_model_B.Delay_m[0],
2630 &dx_hand_model_DW.Delay_DSTATE[dx_hand_model_B.i], 27U * sizeof
2631 (real32_T));
2632 }
2633
2634 /* End of Delay: '<S4>/Delay' */
2635
2636 /* Gain: '<S55>/Gain Aggiustato' */
2637 dx_hand_model_B.Saturation3 = dx_hand_model_P.GainAggiustato_Gain_b *
2638 dx_hand_model_B.Delay_m[8];
2639
2640 /* Saturate: '<S37>/Saturation3' */
2641 if (dx_hand_model_B.Saturation3 > dx_hand_model_P.Saturation3_UpperSat_h) {
2642 dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation3_UpperSat_h;
2643 } else {
2644 if (dx_hand_model_B.Saturation3 < dx_hand_model_P.Saturation3_LowerSat_g) {
2645 dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation3_LowerSat_g;
2646 }
2647 }
2648
2649 /* End of Saturate: '<S37>/Saturation3' */
2650
2651 /* RateTransition: '<S50>/Rate Transition' */
2652 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
2653 dx_hand_model_B.RateTransition_f = dx_hand_model_DW.RateTransition_Buffer0_j;
2654 }
2655
2656 /* End of RateTransition: '<S50>/Rate Transition' */
2657
2658 /* Sum: '<S50>/Sum4' incorporates:
2659 * Constant: '<S50>/Constant4'
2660 * DataTypeConversion: '<S50>/Data Type Conversion1'
2661 * Gain: '<S50>/Gain Aggiustato1'
2662 * Sum: '<S50>/Sum3'
2663 */
2664 dx_hand_model_B.Saturation2 = dx_hand_model_P.Constant4_Value_o -
2665 (dx_hand_model_B.Delay_m[13] - (real32_T)dx_hand_model_B.RateTransition_f) *
2666 dx_hand_model_P.GainAggiustato1_Gain;
2667
2668 /* Saturate: '<S37>/Saturation2' */
2669 if (dx_hand_model_B.Saturation2 > dx_hand_model_P.Saturation2_UpperSat_lj) {
2670 dx_hand_model_B.Saturation2 = dx_hand_model_P.Saturation2_UpperSat_lj;
2671 } else {
2672 if (dx_hand_model_B.Saturation2 < dx_hand_model_P.Saturation2_LowerSat_k) {
2673 dx_hand_model_B.Saturation2 = dx_hand_model_P.Saturation2_LowerSat_k;
2674 }
2675 }
2676
2677 /* End of Saturate: '<S37>/Saturation2' */
2678
2679 /* RateTransition: '<S37>/Rate Transition' */
2680 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
2681 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {
2682 dx_hand_model_B.RateTransition_a[dx_hand_model_B.i] =
2683 dx_hand_model_DW.RateTransition_Buffer0_e[dx_hand_model_B.i];
2684 }
2685 }
2686
2687 /* End of RateTransition: '<S37>/Rate Transition' */
2688
2689 /* MATLAB Function: '<S52>/Index Parameters' */
2690 dx_hand_model_B.y_m[0] = dx_hand_model_B.RateTransition_a[0];
2691 dx_hand_model_B.y_m[1] = dx_hand_model_B.RateTransition_a[1];
2692 dx_hand_model_B.y_m[2] = dx_hand_model_B.RateTransition_a[2];
2693 dx_hand_model_B.y_m[3] = dx_hand_model_B.RateTransition_a[3];
2694 dx_hand_model_B.y_m[4] = 18.0;
2695 dx_hand_model_B.y_m[5] = 43.0;
2696 dx_hand_model_B.y_m[6] = 9.0;
2697 dx_hand_model_B.y_m[7] = 40.0;
2698 dx_hand_model_B.y_m[8] = 27.0;
2699 dx_hand_model_B.y_m[9] = 37.0;
2700 dx_hand_model_B.y_m[10] = 86.0;
2701 dx_hand_model_B.y_m[11] = 46.0;
2702 dx_hand_model_B.y_m[12] = 39.0;
2703 dx_hand_model_B.y_m[13] = 14.1;
2704 dx_hand_model_B.y_m[14] = 35.0;
2705 dx_hand_model_B.y_m[15] = 37.75;
2706 dx_hand_model_B.y_m[16] = 147.5;
2707 dx_hand_model_B.y_m[17] = 122.0;
2708
2709 /* DataTypeConversion: '<S52>/Data Type Conversion1' */
2710 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {
2711 dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)
2712 dx_hand_model_B.y_m[dx_hand_model_B.i];
2713 }
2714
2715 /* End of DataTypeConversion: '<S52>/Data Type Conversion1' */
2716
2717 /* MATLAB Function: '<S37>/Index Direct Kinematics' incorporates:
2718 * MATLAB Function: '<S36>/Jacobian'
2719 * SignalConversion: '<S51>/TmpSignal ConversionAt SFunction Inport1'
2720 */
2721 dx_hand_model_B.LKH = dx_hand_model_B.DataTypeConversion1_d[14] +
2722 dx_hand_model_B.DataTypeConversion1_d[9];
2723 dx_hand_model_B.LDF_tmp = dx_hand_model_B.DataTypeConversion1_d[7] +
2724 dx_hand_model_B.DataTypeConversion1_d[8];
2725 dx_hand_model_B.LBD = dx_hand_model_B.DataTypeConversion1_d[5] +
2726 dx_hand_model_B.DataTypeConversion1_d[6];
2727 dx_hand_model_B.LKN = (real32_T)sqrt((real_T)
2728 (dx_hand_model_B.DataTypeConversion1_d[16] *
2729 dx_hand_model_B.DataTypeConversion1_d[16] +
2730 dx_hand_model_B.DataTypeConversion1_d[15] *
2731 dx_hand_model_B.DataTypeConversion1_d[15]));
2732 dx_hand_model_B.qKN = (real32_T)atan((real_T)
2733 (dx_hand_model_B.DataTypeConversion1_d[15] /
2734 dx_hand_model_B.DataTypeConversion1_d[16]));
2735 dx_hand_model_B.LA1N = dx_hand_model_B.Saturation3 +
2736 dx_hand_model_B.DataTypeConversion1_d[17];
2737 dx_hand_model_B.LA2K = (real32_T)sqrt((real_T)
2738 ((dx_hand_model_B.DataTypeConversion1_d[14] *
2739 dx_hand_model_B.DataTypeConversion1_d[14] + 256.0F) - 32.0F *
2740 dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)
2741 dx_hand_model_B.Saturation2)));
2742 dx_hand_model_B.LA1K = (real32_T)sqrt((real_T)((dx_hand_model_B.LA2K *
2743 dx_hand_model_B.LA2K + 206.209595F) - (real32_T)cos((real_T)(2.00712872F -
2744 dx_hand_model_my_acos_e(((-(dx_hand_model_B.DataTypeConversion1_d[14] *
2745 dx_hand_model_B.DataTypeConversion1_d[14]) + 256.0F) + dx_hand_model_B.LA2K *
2746 dx_hand_model_B.LA2K) / (32.0F * dx_hand_model_B.LA2K)))) * (28.72F *
2747 dx_hand_model_B.LA2K)));
2748 dx_hand_model_B.LA2K = 3.14159274F - (((dx_hand_model_my_acos_e
2749 (((dx_hand_model_B.LA2K * dx_hand_model_B.LA2K + -256.0F) +
2750 dx_hand_model_B.DataTypeConversion1_d[14] *
2751 dx_hand_model_B.DataTypeConversion1_d[14]) / (2.0F * dx_hand_model_B.LA2K *
2752 dx_hand_model_B.DataTypeConversion1_d[14])) + dx_hand_model_my_acos_e
2753 (((-(dx_hand_model_B.LA1N * dx_hand_model_B.LA1N) + dx_hand_model_B.LA1K *
2754 dx_hand_model_B.LA1K) + dx_hand_model_B.LKN * dx_hand_model_B.LKN) /
2755 (2.0F * dx_hand_model_B.LA1K * dx_hand_model_B.LKN))) +
2756 dx_hand_model_my_acos_e(((dx_hand_model_B.LA2K * dx_hand_model_B.LA2K +
2757 -206.209595F) + dx_hand_model_B.LA1K * dx_hand_model_B.LA1K) / (2.0F *
2758 dx_hand_model_B.LA2K * dx_hand_model_B.LA1K))) + dx_hand_model_B.qKN);
2759 dx_hand_model_B.xH = -dx_hand_model_B.LKH * (real32_T)cos((real_T)
2760 dx_hand_model_B.LA2K);
2761 dx_hand_model_B.yH = dx_hand_model_B.LKH * (real32_T)sin((real_T)
2762 dx_hand_model_B.LA2K);
2763 dx_hand_model_B.xC = -dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)
2764 cos((real_T)dx_hand_model_B.LA2K) - (real32_T)cos((real_T)
2765 (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *
2766 dx_hand_model_B.DataTypeConversion1_d[5];
2767 dx_hand_model_B.LKH = dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)
2768 sin((real_T)dx_hand_model_B.LA2K) - (real32_T)sin((real_T)
2769 (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *
2770 dx_hand_model_B.DataTypeConversion1_d[5];
2771 dx_hand_model_B.xD = dx_hand_model_B.xC - (real32_T)cos((real_T)
2772 (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *
2773 dx_hand_model_B.DataTypeConversion1_d[6];
2774 dx_hand_model_B.yD = dx_hand_model_B.LKH - (real32_T)sin((real_T)
2775 (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *
2776 dx_hand_model_B.DataTypeConversion1_d[6];
2777 dx_hand_model_B.xC += (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
2778 dx_hand_model_B.LA2K)) * dx_hand_model_B.DataTypeConversion1_d[13];
2779 dx_hand_model_B.yI = dx_hand_model_B.LKH - (real32_T)cos((real_T)
2780 (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *
2781 dx_hand_model_B.DataTypeConversion1_d[13];
2782 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.xC -
2783 (-dx_hand_model_B.DataTypeConversion1_d[2]);
2784 dx_hand_model_B.t1313 = dx_hand_model_B.yI -
2785 (-dx_hand_model_B.DataTypeConversion1_d[3]);
2786 dx_hand_model_B.LLI = (real32_T)sqrt((real_T)
2787 (dx_hand_model_B.DataTypeConversion5_n *
2788 dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.t1313 *
2789 dx_hand_model_B.t1313));
2790 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da =
2791 (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) *
2792 (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F);
2793 dx_hand_model_B.temp = dx_hand_model_B.LLI * dx_hand_model_B.LLI -
2794 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;
2795 if (dx_hand_model_B.temp < 0.0F) {
2796 dx_hand_model_B.LLI = 1.57079637F;
2797 dx_hand_model_B.LKH = 0.0F;
2798 } else {
2799 dx_hand_model_B.LKH = (real32_T)sqrt((real_T)dx_hand_model_B.temp);
2800 dx_hand_model_B.LLI = dx_hand_model_my_acos_e
2801 (((-((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) *
2802 (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F)) +
2803 dx_hand_model_B.LLI * dx_hand_model_B.LLI) + dx_hand_model_B.LKH *
2804 dx_hand_model_B.LKH) / (2.0F * dx_hand_model_B.LKH * dx_hand_model_B.LLI));
2805 }
2806
2807 dx_hand_model_B.xC = dx_hand_model_rt_atan2f_snf
2808 (-dx_hand_model_B.DataTypeConversion1_d[3] - dx_hand_model_B.yI,
2809 -dx_hand_model_B.DataTypeConversion1_d[2] - dx_hand_model_B.xC) +
2810 dx_hand_model_B.LLI;
2811 dx_hand_model_B.Sum_nf = dx_hand_model_B.xH - dx_hand_model_B.xD;
2812 dx_hand_model_B.t3 = dx_hand_model_B.yH - dx_hand_model_B.yD;
2813 dx_hand_model_B.temp = (real32_T)sqrt((real_T)(dx_hand_model_B.Sum_nf *
2814 dx_hand_model_B.Sum_nf + dx_hand_model_B.t3 * dx_hand_model_B.t3));
2815 dx_hand_model_B.t4_o = (dx_hand_model_B.xH -
2816 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)
2817 dx_hand_model_B.LA2K)) - dx_hand_model_B.xD;
2818 dx_hand_model_B.t7 = (dx_hand_model_B.yH -
2819 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)
2820 cos((real_T)dx_hand_model_B.LA2K)) - dx_hand_model_B.yD;
2821 dx_hand_model_B.LDG = (real32_T)sqrt((real_T)(dx_hand_model_B.t4_o *
2822 dx_hand_model_B.t4_o + dx_hand_model_B.t7 * dx_hand_model_B.t7));
2823 dx_hand_model_B.LDF = dx_hand_model_B.DataTypeConversion1_d[10] *
2824 dx_hand_model_B.DataTypeConversion1_d[10];
2825 dx_hand_model_B.xH = ((-(dx_hand_model_B.temp * dx_hand_model_B.temp) +
2826 dx_hand_model_B.LDG * dx_hand_model_B.LDG) + dx_hand_model_B.LDF) / (2.0F *
2827 dx_hand_model_B.LDG * dx_hand_model_B.DataTypeConversion1_d[10]);
2828 if ((real32_T)fabs((real_T)dx_hand_model_B.xH) > 1.0F) {
2829 dx_hand_model_B.xH = 1.0F;
2830 }
2831
2832 dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a =
2833 dx_hand_model_B.DataTypeConversion1_d[11] *
2834 dx_hand_model_B.DataTypeConversion1_d[11];
2835 dx_hand_model_B.JTcomp_idx_3 = dx_hand_model_B.LDF_tmp *
2836 dx_hand_model_B.LDF_tmp;
2837 dx_hand_model_B.yH = ((-dx_hand_model_B.JTcomp_idx_3 + dx_hand_model_B.LDG *
2838 dx_hand_model_B.LDG) + dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a) /
2839 (2.0F * dx_hand_model_B.LDG * dx_hand_model_B.DataTypeConversion1_d[11]);
2840 if ((real32_T)fabs((real_T)dx_hand_model_B.yH) > 1.0F) {
2841 dx_hand_model_B.yH = 1.0F;
2842 }
2843
2844 dx_hand_model_B.yI = -dx_hand_model_B.DataTypeConversion1_d[2] -
2845 dx_hand_model_B.DataTypeConversion1_d[1] * (real32_T)cos((real_T)
2846 dx_hand_model_B.xC);
2847 dx_hand_model_B.LLI = -dx_hand_model_B.DataTypeConversion1_d[3] -
2848 dx_hand_model_B.DataTypeConversion1_d[1] * (real32_T)sin((real_T)
2849 dx_hand_model_B.xC);
2850 dx_hand_model_B.xD1 = ((-dx_hand_model_B.LDF + dx_hand_model_B.temp *
2851 dx_hand_model_B.temp) + dx_hand_model_B.LDG * dx_hand_model_B.LDG) / (2.0F *
2852 dx_hand_model_B.temp * dx_hand_model_B.LDG);
2853 if ((real32_T)fabs((real_T)dx_hand_model_B.xD1) > 1.0F) {
2854 dx_hand_model_B.xD1 = 1.0F;
2855 }
2856
2857 dx_hand_model_B.LDF = ((-dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a +
2858 dx_hand_model_B.LDG * dx_hand_model_B.LDG) + dx_hand_model_B.JTcomp_idx_3) /
2859 (2.0F * dx_hand_model_B.LDG * dx_hand_model_B.LDF_tmp);
2860 if ((real32_T)fabs((real_T)dx_hand_model_B.LDF) > 1.0F) {
2861 dx_hand_model_B.LDF = 1.0F;
2862 }
2863
2864 dx_hand_model_B.LBD = ((-(dx_hand_model_B.DataTypeConversion1_d[9] *
2865 dx_hand_model_B.DataTypeConversion1_d[9]) + dx_hand_model_B.temp *
2866 dx_hand_model_B.temp) + dx_hand_model_B.LBD * dx_hand_model_B.LBD) / (2.0F *
2867 dx_hand_model_B.temp * dx_hand_model_B.LBD);
2868 if ((real32_T)fabs((real_T)dx_hand_model_B.LBD) > 1.0F) {
2869 dx_hand_model_B.LBD = 1.0F;
2870 }
2871
2872 dx_hand_model_B.LBD = 3.14159274F - (((real32_T)fabs((real_T)
2873 dx_hand_model_my_acos_e(dx_hand_model_B.xD1)) + (real32_T)fabs((real_T)
2874 dx_hand_model_my_acos_e(dx_hand_model_B.LDF))) + (real32_T)fabs((real_T)
2875 dx_hand_model_my_acos_e(dx_hand_model_B.LBD)));
2876 dx_hand_model_B.xD = (dx_hand_model_B.xD - (real32_T)cos((real_T)
2877 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) - dx_hand_model_B.LA2K))
2878 * dx_hand_model_B.DataTypeConversion1_d[7]) + (real32_T)
2879 sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) -
2880 dx_hand_model_B.LA2K)) * dx_hand_model_B.DataTypeConversion1_d
2881 [12];
2882 dx_hand_model_B.LDF = (dx_hand_model_B.yD - (real32_T)sin((real_T)
2883 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) - dx_hand_model_B.LA2K))
2884 * dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)
2885 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) - dx_hand_model_B.LA2K))
2886 * dx_hand_model_B.DataTypeConversion1_d[12];
2887 dx_hand_model_B.t3 = dx_hand_model_B.xD - dx_hand_model_B.yI;
2888 dx_hand_model_B.t4_o = dx_hand_model_B.LDF - dx_hand_model_B.LLI;
2889 dx_hand_model_B.xD1 = (real32_T)sqrt((real_T)(dx_hand_model_B.t3 *
2890 dx_hand_model_B.t3 + dx_hand_model_B.t4_o * dx_hand_model_B.t4_o));
2891 dx_hand_model_B.temp = dx_hand_model_B.xD1 * dx_hand_model_B.xD1 -
2892 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;
2893 if (dx_hand_model_B.temp < 0.0F) {
2894 dx_hand_model_B.temp = 1.57079637F;
2895 dx_hand_model_B.yD = 0.0F;
2896 } else {
2897 dx_hand_model_B.yD = (real32_T)sqrt((real_T)dx_hand_model_B.temp);
2898 dx_hand_model_B.temp = dx_hand_model_my_acos_e
2899 (((-((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) *
2900 (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F)) +
2901 dx_hand_model_B.xD1 * dx_hand_model_B.xD1) + dx_hand_model_B.yD *
2902 dx_hand_model_B.yD) / (2.0F * dx_hand_model_B.yD * dx_hand_model_B.xD1));
2903 }
2904
2905 dx_hand_model_B.y_f[0] = dx_hand_model_B.xC;
2906 dx_hand_model_B.y_f[1] = (dx_hand_model_rt_atan2f_snf(dx_hand_model_B.LLI -
2907 dx_hand_model_B.LDF, dx_hand_model_B.yI - dx_hand_model_B.xD) +
2908 dx_hand_model_B.temp) - dx_hand_model_B.xC;
2909 dx_hand_model_B.y_f[2] = dx_hand_model_B.LA2K;
2910 dx_hand_model_B.y_f[3] = dx_hand_model_B.LBD;
2911 dx_hand_model_B.y_f[4] = 3.14159274F - ((real32_T)fabs((real_T)
2912 dx_hand_model_my_acos_e(dx_hand_model_B.xH)) + (real32_T)fabs((real_T)
2913 dx_hand_model_my_acos_e(dx_hand_model_B.yH)));
2914 dx_hand_model_B.y_f[5] = dx_hand_model_my_acos_e(((-(dx_hand_model_B.LA1K *
2915 dx_hand_model_B.LA1K) + dx_hand_model_B.LA1N * dx_hand_model_B.LA1N) +
2916 dx_hand_model_B.LKN * dx_hand_model_B.LKN) / (2.0F * dx_hand_model_B.LA1N *
2917 dx_hand_model_B.LKN)) - dx_hand_model_B.qKN;
2918 dx_hand_model_B.y_f[6] = dx_hand_model_B.LKH;
2919 dx_hand_model_B.y_f[7] = dx_hand_model_B.yD;
2920
2921 /* MATLAB Function: '<S36>/Jacobian Optim ' incorporates:
2922 * MATLAB Function: '<S36>/Jacobian'
2923 * MATLAB Function: '<S37>/Index Direct Kinematics'
2924 * SignalConversion: '<S49>/TmpSignal ConversionAt SFunction Inport2'
2925 */
2926 dx_hand_model_B.LKH /= 1000.0F;
2927 dx_hand_model_B.yD /= 1000.0F;
2928 dx_hand_model_B.LKN = dx_hand_model_B.DataTypeConversion1_d[5] / 1000.0F;
2929 dx_hand_model_B.qKN = dx_hand_model_B.DataTypeConversion1_d[6] / 1000.0F;
2930 dx_hand_model_B.LA1N = dx_hand_model_B.DataTypeConversion1_d[9] / 1000.0F;
2931 dx_hand_model_B.LA1K = dx_hand_model_B.DataTypeConversion1_d[13] / 1000.0F;
2932 dx_hand_model_B.LA2K = dx_hand_model_B.DataTypeConversion1_d[7] / 1000.0F;
2933 dx_hand_model_B.LBD = dx_hand_model_B.DataTypeConversion1_d[8] / 1000.0F;
2934 dx_hand_model_B.xD = dx_hand_model_B.DataTypeConversion1_d[12] / 1000.0F;
2935 dx_hand_model_B.LDF = dx_hand_model_B.DataTypeConversion1_d[10] / 1000.0F;
2936 dx_hand_model_B.xC = dx_hand_model_B.DataTypeConversion1_d[14] / 1000.0F;
2937 dx_hand_model_B.yH = dx_hand_model_B.DataTypeConversion1_d[0] / 1000.0F;
2938 dx_hand_model_B.xH = (real32_T)sin((real_T)dx_hand_model_B.y_f[5]);
2939 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 = dx_hand_model_B.Saturation2 -
2940 dx_hand_model_B.y_f[2];
2941 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp = (real32_T)sin((real_T)
2942 dx_hand_model_B.y_f[2]);
2943 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p = (real32_T)cos((real_T)
2944 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1);
2945 dx_hand_model_B.temp = dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3];
2946 dx_hand_model_B.yI = dx_hand_model_B.temp - dx_hand_model_B.y_f[2];
2947 dx_hand_model_B.t13_b = (real32_T)cos((real_T)dx_hand_model_B.yI);
2948 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = (real32_T)cos((real_T)
2949 dx_hand_model_B.y_f[2]);
2950 dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)
2951 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1);
2952 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 =
2953 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.LKN;
2954 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = (real32_T)sin((real_T)
2955 dx_hand_model_B.yI);
2956 dx_hand_model_B.LLI = dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2];
2957 dx_hand_model_B.xD1 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
2958 dx_hand_model_B.LA2K;
2959 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = dx_hand_model_B.t13_b *
2960 dx_hand_model_B.LA2K;
2961 dx_hand_model_B.Saturation2_k = dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1];
2962 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l =
2963 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p * dx_hand_model_B.qKN;
2964 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da =
2965 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.xD;
2966 dx_hand_model_B.LDG = (real32_T)cos((real_T)dx_hand_model_B.Saturation2_k);
2967 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe =
2968 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p * dx_hand_model_B.LA1K;
2969 dx_hand_model_B.qKN *= dx_hand_model_B.DataTypeConversion5_n;
2970 dx_hand_model_B.xD *= dx_hand_model_B.t13_b;
2971 dx_hand_model_B.Saturation2_k = (real32_T)sin((real_T)
2972 dx_hand_model_B.Saturation2_k);
2973 dx_hand_model_B.temp = (real32_T)cos((real_T)(dx_hand_model_B.temp -
2974 dx_hand_model_B.y_f[4]));
2975 dx_hand_model_B.Saturation2_e = dx_hand_model_B.LA2K + dx_hand_model_B.LBD;
2976 dx_hand_model_B.yI = (real32_T)sin((real_T)dx_hand_model_B.y_f[1]);
2977 dx_hand_model_B.Saturation4_f = (real32_T)cos((real_T)dx_hand_model_B.LLI);
2978 dx_hand_model_B.Saturation3_o = (real32_T)sin((real_T)dx_hand_model_B.LLI);
2979 dx_hand_model_B.LA2K = (real32_T)cos((real_T)dx_hand_model_B.y_f[0]);
2980 dx_hand_model_B.Sum_nf = dx_hand_model_B.xC *
2981 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
2982 dx_hand_model_B.TSamp_cb = dx_hand_model_B.Sum_nf -
2983 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;
2984 dx_hand_model_B.TSamp_cm = dx_hand_model_B.TSamp_cb -
2985 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;
2986 dx_hand_model_B.Product_f = dx_hand_model_B.Saturation2_e * dx_hand_model_B.yI
2987 * dx_hand_model_B.temp;
2988 dx_hand_model_B.Sum1_h = dx_hand_model_B.TSamp_cm * dx_hand_model_B.Product_f;
2989 dx_hand_model_B.LKN *= dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p;
2990 dx_hand_model_B.TSamp_g = dx_hand_model_B.DataTypeConversion5_n *
2991 dx_hand_model_B.LA1K;
2992 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 =
2993 ((dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe - dx_hand_model_B.qKN) -
2994 dx_hand_model_B.xD1) - dx_hand_model_B.xD;
2995 dx_hand_model_B.t1313 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
2996 dx_hand_model_B.LBD;
2997 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = ((((dx_hand_model_B.LDF *
2998 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m - dx_hand_model_B.LA1N *
2999 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) -
3000 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1) - dx_hand_model_B.qKN) -
3001 dx_hand_model_B.xD1) - dx_hand_model_B.t1313;
3002 dx_hand_model_B.t4_o = dx_hand_model_B.t13_b * dx_hand_model_B.LBD;
3003 dx_hand_model_B.t1309 = ((((dx_hand_model_B.LA1N *
3004 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m + dx_hand_model_B.LDF *
3005 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) - dx_hand_model_B.LKN) -
3006 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l) -
3007 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) - dx_hand_model_B.t4_o;
3008 dx_hand_model_B.LA1N = dx_hand_model_B.t1309 * dx_hand_model_B.Saturation4_f +
3009 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
3010 dx_hand_model_B.Saturation3_o;
3011 dx_hand_model_B.LBD = dx_hand_model_B.xD1 + dx_hand_model_B.xD;
3012 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.LBD *
3013 dx_hand_model_B.Saturation2_k;
3014 dx_hand_model_B.t27_m = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n -
3015 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;
3016 dx_hand_model_B.LDF = ((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l +
3017 dx_hand_model_B.TSamp_g) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n)
3018 - dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;
3019 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g =
3020 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j + dx_hand_model_B.t27_m *
3021 dx_hand_model_B.LDG;
3022 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = (dx_hand_model_B.LA1N *
3023 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g + (dx_hand_model_B.LDF *
3024 dx_hand_model_B.LDG - dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *
3025 dx_hand_model_B.Saturation2_k) * (dx_hand_model_B.temp *
3026 dx_hand_model_B.Saturation2_e)) * dx_hand_model_B.LA2K;
3027 dx_hand_model_B.LLI = dx_hand_model_B.Sum1_h -
3028 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t;
3029
3030 /* SignalConversion: '<S48>/TmpSignal ConversionAt SFunction Inport2' incorporates:
3031 * MATLAB Function: '<S36>/Jacobian'
3032 */
3033 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da = dx_hand_model_B.Saturation3;
3034 dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a = dx_hand_model_B.Saturation2;
3035
3036 /* MATLAB Function: '<S36>/Jacobian' incorporates:
3037 * MATLAB Function: '<S36>/Jacobian Optim '
3038 * SignalConversion: '<S48>/TmpSignal ConversionAt SFunction Inport2'
3039 * UnitDelay: '<S36>/Unit Delay1'
3040 * UnitDelay: '<S36>/Unit Delay3'
3041 */
3042 dx_hand_model_B.xD1_tmp = dx_hand_model_B.DataTypeConversion5_n *
3043 dx_hand_model_B.DataTypeConversion1_d[5];
3044 dx_hand_model_B.t28_h = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
3045 dx_hand_model_B.DataTypeConversion1_d[7];
3046 dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t13_b *
3047 dx_hand_model_B.DataTypeConversion1_d[7];
3048 dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *
3049 dx_hand_model_B.DataTypeConversion1_d[6];
3050 dx_hand_model_B.t1251 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
3051 dx_hand_model_B.DataTypeConversion1_d[12];
3052 dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *
3053 dx_hand_model_B.DataTypeConversion1_d[13];
3054 dx_hand_model_B.t1312 = dx_hand_model_B.DataTypeConversion5_n *
3055 dx_hand_model_B.DataTypeConversion1_d[6];
3056 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t13_b *
3057 dx_hand_model_B.DataTypeConversion1_d[12];
3058 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
3059 dx_hand_model_B.DataTypeConversion1_d[8];
3060 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t28_h +
3061 dx_hand_model_B.xD1_tmp_o;
3062 dx_hand_model_B.t12_o = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
3063 dx_hand_model_B.Saturation2_k;
3064 dx_hand_model_B.t7 = dx_hand_model_B.xD1_tmp_p - dx_hand_model_B.t1251;
3065 dx_hand_model_B.JTcomp_idx_3 = dx_hand_model_B.t12_o + dx_hand_model_B.t7 *
3066 dx_hand_model_B.LDG;
3067 dx_hand_model_B.xD1_tmp_tmp_k =
3068 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *
3069 dx_hand_model_B.DataTypeConversion1_d[5];
3070 dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.DataTypeConversion5_n *
3071 dx_hand_model_B.DataTypeConversion1_d[13];
3072 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.DataTypeConversion1_d
3073 [14] * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3074 dx_hand_model_B.t14_a = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b -
3075 dx_hand_model_B.xD1_tmp;
3076 dx_hand_model_B.t1226 = dx_hand_model_B.t14_a - dx_hand_model_B.xD1_tmp_i;
3077 dx_hand_model_B.t1248 = ((dx_hand_model_B.xD1_tmp_i - dx_hand_model_B.t1312) -
3078 dx_hand_model_B.t28_h) - dx_hand_model_B.xD1_tmp_o;
3079 dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.t13_b *
3080 dx_hand_model_B.DataTypeConversion1_d[8];
3081 dx_hand_model_B.t1250 = ((dx_hand_model_B.xD1_tmp_f +
3082 dx_hand_model_B.xD1_tmp_tmp_i) + dx_hand_model_B.xD1_tmp_p) -
3083 dx_hand_model_B.t1251;
3084 dx_hand_model_B.t3 = ((((dx_hand_model_B.DataTypeConversion1_d[10] *
3085 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m -
3086 dx_hand_model_B.DataTypeConversion1_d[9] *
3087 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) - dx_hand_model_B.xD1_tmp) -
3088 dx_hand_model_B.t1312) - dx_hand_model_B.t28_h) -
3089 dx_hand_model_B.xD1_tmp_tmp;
3090 dx_hand_model_B.t1212 = ((((dx_hand_model_B.DataTypeConversion1_d[9] *
3091 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m +
3092 dx_hand_model_B.DataTypeConversion1_d[10] *
3093 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) -
3094 dx_hand_model_B.xD1_tmp_tmp_k) - dx_hand_model_B.xD1_tmp_f) -
3095 dx_hand_model_B.xD1_tmp_p) - dx_hand_model_B.xD1_tmp_tmp_o;
3096 dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t1212 *
3097 dx_hand_model_B.Saturation4_f + dx_hand_model_B.t3 *
3098 dx_hand_model_B.Saturation3_o;
3099 dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.LDF_tmp * dx_hand_model_B.yI *
3100 dx_hand_model_B.temp;
3101 dx_hand_model_B.t1252 = dx_hand_model_B.t1226 * dx_hand_model_B.xD1_tmp_tmp_c;
3102 dx_hand_model_B.t1253 = (dx_hand_model_B.xD1_tmp_tmp_m *
3103 dx_hand_model_B.JTcomp_idx_3 + (dx_hand_model_B.t1250 * dx_hand_model_B.LDG
3104 - dx_hand_model_B.t1248 * dx_hand_model_B.Saturation2_k) *
3105 (dx_hand_model_B.temp * dx_hand_model_B.LDF_tmp)) * dx_hand_model_B.LA2K;
3106 dx_hand_model_B.t1251 = dx_hand_model_B.t1252 - dx_hand_model_B.t1253;
3107 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp = (real32_T)sin((real_T)
3108 dx_hand_model_B.y_f[0]);
3109 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp =
3110 dx_hand_model_B.DataTypeConversion1_d[14] *
3111 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m;
3112 dx_hand_model_B.t11_e = (dx_hand_model_B.xD1_tmp_tmp_k +
3113 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp) - dx_hand_model_B.xD1_tmp_tmp_i;
3114 dx_hand_model_B.t1254 = dx_hand_model_B.t11_e * dx_hand_model_B.LA2K -
3115 dx_hand_model_B.t1226 * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3116 dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.LDF_tmp *
3117 dx_hand_model_B.Saturation2_k * dx_hand_model_B.temp;
3118 dx_hand_model_B.t1255 = dx_hand_model_B.t1248 *
3119 dx_hand_model_B.JTcomp_idx_3_tmp_tmp;
3120 dx_hand_model_B.JTcomp_idx_3_tmp = (dx_hand_model_B.DataTypeConversion1_d[0] +
3121 13.5F) * dx_hand_model_B.LA2K;
3122 dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.DataTypeConversion1_d[1]
3123 - dx_hand_model_B.y_f[6];
3124 dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.JTcomp_idx_3_tmp -
3125 dx_hand_model_B.y_f[6] * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3126 dx_hand_model_B.JTcomp_idx_3_tmp_m = (dx_hand_model_B.DataTypeConversion1_d[0]
3127 + 13.5F) * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3128 dx_hand_model_B.t7 = (dx_hand_model_B.t3 * dx_hand_model_B.t7 +
3129 dx_hand_model_B.t1250 *
3130 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
3131 dx_hand_model_B.LDF_tmp)) * dx_hand_model_B.Saturation3_o +
3132 (dx_hand_model_B.t1212 * (dx_hand_model_B.t7 * dx_hand_model_B.Saturation4_f)
3133 + dx_hand_model_B.t1250 * (dx_hand_model_B.LDF_tmp *
3134 dx_hand_model_B.Saturation4_f * dx_hand_model_B.t13_b));
3135 dx_hand_model_B.JTcomp_idx_3_tmp_a = (dx_hand_model_B.t1255 -
3136 dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.t12_o) - dx_hand_model_B.t7 *
3137 dx_hand_model_B.LDG;
3138 dx_hand_model_B.JTcomp_idx_3_tmp += dx_hand_model_B.JTcomp_idx_3_tmp_f *
3139 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3140 dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.LDF_tmp *
3141 dx_hand_model_B.LDG * dx_hand_model_B.temp;
3142 dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.JTcomp_idx_3_tmp_m -
3143 dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.LA2K;
3144 dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.JTcomp_idx_3_tmp_a *
3145 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp + dx_hand_model_B.t11_e *
3146 dx_hand_model_B.xD1_tmp_tmp_c;
3147 dx_hand_model_B.JTcomp_idx_3_tmp_m += dx_hand_model_B.y_f[6] *
3148 dx_hand_model_B.LA2K;
3149 dx_hand_model_B.t15_g = dx_hand_model_B.LDF_tmp *
3150 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3151 dx_hand_model_B.t12_o = dx_hand_model_B.Saturation2_k * dx_hand_model_B.LA2K;
3152 dx_hand_model_B.t3 = dx_hand_model_B.LDG * dx_hand_model_B.LA2K;
3153 dx_hand_model_B.t1212 = (real32_T)cos((real_T)dx_hand_model_B.y_f[5]);
3154 dx_hand_model_B.JTcomp_idx_3_tmp_c = (dx_hand_model_B.Saturation2 -
3155 1.13446403F) - dx_hand_model_B.y_f[2];
3156 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.LDF_tmp *
3157 dx_hand_model_B.y_f[7] * dx_hand_model_B.temp;
3158 dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t15_g *
3159 dx_hand_model_B.yI * dx_hand_model_B.temp *
3160 dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.t1226 -
3161 (dx_hand_model_B.t1251 * dx_hand_model_B.JTcomp_idx_3_tmp_m -
3162 dx_hand_model_B.JTcomp_idx_3_tmp_a * (dx_hand_model_B.JTcomp_idx_3_tmp_h *
3163 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp)) * dx_hand_model_B.LA2K;
3164 dx_hand_model_B.JTcomp_idx_3_tmp_m += (((dx_hand_model_B.t1254 *
3165 dx_hand_model_B.JTcomp_idx_3_tmp_n + dx_hand_model_B.t1254 *
3166 (dx_hand_model_B.JTcomp_idx_3_tmp_tmp * dx_hand_model_B.JTcomp_idx_3_tmp)) -
3167 dx_hand_model_B.t1254 * (dx_hand_model_B.JTcomp_idx_3_tmp_k *
3168 dx_hand_model_B.JTcomp_idx_3_tmp_f)) - dx_hand_model_B.JTcomp_idx_3_tmp_p *
3169 dx_hand_model_B.JTcomp_idx_3_tmp_h) / dx_hand_model_B.t1251;
3170 dx_hand_model_B.t11_e = (real32_T)sin((real_T)
3171 dx_hand_model_B.JTcomp_idx_3_tmp_c);
3172 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.t11_e * 14.36F;
3173 dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.DataTypeConversion5_n *
3174 16.0F;
3175 dx_hand_model_B.JTcomp_idx_3_tmp_j = ((dx_hand_model_B.xD1_tmp +
3176 dx_hand_model_B.t1312) + dx_hand_model_B.t28_h) +
3177 dx_hand_model_B.xD1_tmp_tmp;
3178 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = (real32_T)cos((real_T)
3179 dx_hand_model_B.JTcomp_idx_3_tmp_c);
3180 dx_hand_model_B.JTcomp_idx_3_tmp_tmp =
3181 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a * 14.36F;
3182 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e =
3183 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p * 16.0F;
3184 dx_hand_model_B.xD1_tmp_tmp = (real32_T)tan((real_T)dx_hand_model_B.y_f[5]);
3185 dx_hand_model_B.JTcomp_idx_3_tmp_c = ((dx_hand_model_B.JTcomp_idx_3_tmp_my +
3186 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b) + dx_hand_model_B.JTcomp_idx_3_tmp_i)
3187 - ((dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp -
3188 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) -
3189 dx_hand_model_B.JTcomp_idx_3_tmp_tmp) * dx_hand_model_B.xD1_tmp_tmp;
3190 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.LDF_tmp *
3191 dx_hand_model_B.LA2K;
3192 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp =
3193 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.Saturation2_k *
3194 dx_hand_model_B.temp;
3195 dx_hand_model_B.xD1_tmp_p = ((dx_hand_model_B.xD1_tmp_tmp_k +
3196 dx_hand_model_B.xD1_tmp_f) + dx_hand_model_B.xD1_tmp_p) +
3197 dx_hand_model_B.xD1_tmp_tmp_o;
3198 dx_hand_model_B.xD1_tmp += dx_hand_model_B.xD1_tmp_i;
3199 dx_hand_model_B.t15_g = (((((dx_hand_model_B.t14_a - dx_hand_model_B.t1312) -
3200 dx_hand_model_B.t28_h) - dx_hand_model_B.xD1_tmp_o) *
3201 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp - dx_hand_model_B.t15_g *
3202 dx_hand_model_B.LDG * dx_hand_model_B.temp * dx_hand_model_B.t1226) -
3203 dx_hand_model_B.xD1_tmp_tmp_m * (dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
3204 dx_hand_model_B.t12_o)) - dx_hand_model_B.t7 * dx_hand_model_B.t3;
3205 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.JTcomp_idx_3_tmp_a *
3206 (dx_hand_model_B.JTcomp_idx_3_tmp_c * dx_hand_model_B.JTcomp_idx_3_tmp_n);
3207 dx_hand_model_B.t1255 = ((((dx_hand_model_B.JTcomp_idx_3_tmp_j *
3208 dx_hand_model_B.Saturation3_o * dx_hand_model_B.JTcomp_idx_3 *
3209 dx_hand_model_B.t1254 + dx_hand_model_B.t1255 * dx_hand_model_B.t1254) +
3210 dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.Saturation4_f *
3211 dx_hand_model_B.JTcomp_idx_3 * dx_hand_model_B.t1254) -
3212 dx_hand_model_B.t1250 * dx_hand_model_B.JTcomp_idx_3_tmp_k *
3213 dx_hand_model_B.t1254) - dx_hand_model_B.t1251 *
3214 (dx_hand_model_B.xD1_tmp_tmp_k - dx_hand_model_B.xD1_tmp_tmp_i)) -
3215 dx_hand_model_B.JTcomp_idx_3_tmp_p * dx_hand_model_B.xD1_tmp;
3216 dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.JTcomp_idx_3_tmp_i +
3217 dx_hand_model_B.JTcomp_idx_3_tmp_my;
3218 dx_hand_model_B.t7 = dx_hand_model_B.Saturation3_o * dx_hand_model_B.LA2K;
3219 dx_hand_model_B.t28_h = dx_hand_model_B.Saturation4_f * dx_hand_model_B.LA2K;
3220 dx_hand_model_B.JTcomp_idx_3_tmp_p = (((dx_hand_model_B.JTcomp_idx_3_tmp_j *
3221 dx_hand_model_B.t7 * dx_hand_model_B.JTcomp_idx_3_tmp_c *
3222 dx_hand_model_B.JTcomp_idx_3 + dx_hand_model_B.t1248 *
3223 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *
3224 dx_hand_model_B.JTcomp_idx_3_tmp_c) + dx_hand_model_B.xD1_tmp_p *
3225 dx_hand_model_B.t28_h * dx_hand_model_B.JTcomp_idx_3_tmp_c *
3226 dx_hand_model_B.JTcomp_idx_3) - dx_hand_model_B.JTcomp_idx_3_tmp_c *
3227 (dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.xD1_tmp)) -
3228 dx_hand_model_B.t1250 * (dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
3229 dx_hand_model_B.LDG * dx_hand_model_B.temp) *
3230 dx_hand_model_B.JTcomp_idx_3_tmp_c;
3231 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.t15_g *
3232 ((dx_hand_model_B.JTcomp_idx_3_tmp_tmp +
3233 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) * dx_hand_model_B.xD1_tmp_tmp);
3234 dx_hand_model_B.JTcomp_idx_3 = (dx_hand_model_B.t1255 *
3235 -(((dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.t12_o +
3236 dx_hand_model_B.y_f[7] * dx_hand_model_B.LA2K) -
3237 dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.yI) -
3238 dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.t3) /
3239 (dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.y_f[7]) - (real32_T)
3240 fabs((real_T)(dx_hand_model_B.JTcomp_idx_3_tmp_m * ((dx_hand_model_B.t15_g *
3241 (dx_hand_model_B.xH * dx_hand_model_B.xH) / (dx_hand_model_B.t1251 *
3242 dx_hand_model_B.t1212) + dx_hand_model_B.t1212) * (dx_hand_model_B.t1251 *
3243 dx_hand_model_B.t1251)) / dx_hand_model_B.JTcomp_idx_3_tmp_n)) *
3244 ((dx_hand_model_B.Saturation3 - dx_hand_model_DW.UnitDelay3_DSTATE[0]) /
3245 0.01F * 2.0F) / ((dx_hand_model_B.Saturation2 -
3246 dx_hand_model_DW.UnitDelay3_DSTATE[1]) / 0.01F)) -
3247 dx_hand_model_B.JTcomp_idx_3_tmp_m * (dx_hand_model_B.t1251 *
3248 dx_hand_model_B.t1251) * (dx_hand_model_B.JTcomp_idx_3_tmp_k -
3249 (dx_hand_model_B.JTcomp_idx_3_tmp_p - dx_hand_model_B.JTcomp_idx_3_tmp_i) /
3250 dx_hand_model_B.t1251) / dx_hand_model_B.JTcomp_idx_3_tmp_n;
3251 if ((dx_hand_model_B.JTcomp_idx_3 == 0.0F) || rtIsNaNF
3252 (dx_hand_model_B.JTcomp_idx_3) || rtIsInfF(dx_hand_model_B.JTcomp_idx_3))
3253 {
3254 dx_hand_model_B.JTcomp_idx_3 = dx_hand_model_DW.UnitDelay1_DSTATE;
3255 }
3256
3257 /* ManualSwitch: '<S36>/Manual Switch' */
3258 if (dx_hand_model_P.ManualSwitch_CurrentSetting_ldb == 1) {
3259 /* MATLAB Function: '<S36>/Jacobian Optim ' */
3260 dx_hand_model_B.t1251 = (dx_hand_model_B.yH + 0.0135F) *
3261 dx_hand_model_B.LA2K;
3262 dx_hand_model_B.LDF_tmp = dx_hand_model_B.t1251 - dx_hand_model_B.LKH *
3263 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3264 dx_hand_model_B.xC *= dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m;
3265 dx_hand_model_B.t1248 = (dx_hand_model_B.LKN + dx_hand_model_B.xC) -
3266 dx_hand_model_B.TSamp_g;
3267 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t1248 *
3268 dx_hand_model_B.LA2K - dx_hand_model_B.TSamp_cm *
3269 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3270 dx_hand_model_B.t14_a = dx_hand_model_B.Saturation2_e *
3271 dx_hand_model_B.Saturation2_k * dx_hand_model_B.temp;
3272 dx_hand_model_B.t1226 = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *
3273 dx_hand_model_B.t14_a;
3274 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o =
3275 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f * dx_hand_model_B.t27_m +
3276 dx_hand_model_B.LDF * (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
3277 dx_hand_model_B.Saturation2_e)) * dx_hand_model_B.Saturation3_o +
3278 (dx_hand_model_B.t1309 * (dx_hand_model_B.t27_m *
3279 dx_hand_model_B.Saturation4_f) + dx_hand_model_B.LDF *
3280 (dx_hand_model_B.Saturation2_e * dx_hand_model_B.Saturation4_f *
3281 dx_hand_model_B.t13_b));
3282 dx_hand_model_B.t13_b = (dx_hand_model_B.t1226 - dx_hand_model_B.LA1N *
3283 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) -
3284 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.LDG;
3285 dx_hand_model_B.t1309 = dx_hand_model_B.Saturation2_e *
3286 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3287 dx_hand_model_B.yH = (dx_hand_model_B.yH + 0.0135F) *
3288 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3289 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.yH +
3290 dx_hand_model_B.LKH * dx_hand_model_B.LA2K;
3291 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t1309 *
3292 dx_hand_model_B.yI * dx_hand_model_B.temp * dx_hand_model_B.LDF_tmp *
3293 dx_hand_model_B.TSamp_cm - (dx_hand_model_B.LLI *
3294 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f - dx_hand_model_B.t13_b *
3295 (dx_hand_model_B.LDF_tmp * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp))
3296 * dx_hand_model_B.LA2K;
3297 dx_hand_model_B.t11_e *= 0.01436F;
3298 dx_hand_model_B.DataTypeConversion5_n *= 0.016F;
3299 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *= 0.01436F;
3300 dx_hand_model_B.t27_m = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *
3301 0.016F;
3302 dx_hand_model_B.xC = ((dx_hand_model_B.DataTypeConversion5_n +
3303 dx_hand_model_B.Sum_nf) + dx_hand_model_B.t11_e) - ((dx_hand_model_B.xC -
3304 dx_hand_model_B.t27_m) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) *
3305 dx_hand_model_B.xD1_tmp_tmp;
3306
3307 /* MATLAB Function: '<S39>/IsNan ' incorporates:
3308 * MATLAB Function: '<S36>/Jacobian Optim '
3309 */
3310 dx_hand_model_B.Switch_i[0] = (((((dx_hand_model_B.TSamp_cb *
3311 dx_hand_model_B.t12_o - dx_hand_model_B.LA1K * dx_hand_model_B.LA2K *
3312 dx_hand_model_B.Saturation2_k *
3313 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p) -
3314 dx_hand_model_B.TSamp_cm * dx_hand_model_B.yI) - dx_hand_model_B.TSamp_cm *
3315 ((real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) *
3316 (real32_T)sin((real_T)dx_hand_model_B.y_f[0]))) *
3317 (dx_hand_model_B.Saturation2_e * (dx_hand_model_B.xH * dx_hand_model_B.xH)
3318 * dx_hand_model_B.temp) + dx_hand_model_B.Sum1_h) -
3319 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) *
3320 -dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m /
3321 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * (dx_hand_model_B.xC *
3322 dx_hand_model_B.t1212));
3323
3324 /* MATLAB Function: '<S36>/Jacobian Optim ' */
3325 dx_hand_model_B.LA1K = ((dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 +
3326 dx_hand_model_B.qKN) + dx_hand_model_B.xD1) + dx_hand_model_B.t1313;
3327 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = ((dx_hand_model_B.LKN +
3328 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l) +
3329 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) + dx_hand_model_B.t4_o;
3330 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe +=
3331 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;
3332 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l =
3333 dx_hand_model_B.Saturation2_e * dx_hand_model_B.LA2K;
3334 dx_hand_model_B.Saturation2_k =
3335 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l *
3336 dx_hand_model_B.Saturation2_k * dx_hand_model_B.temp;
3337 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p =
3338 dx_hand_model_B.Saturation2_e * dx_hand_model_B.LDG * dx_hand_model_B.temp;
3339 dx_hand_model_B.t13_b = dx_hand_model_B.t13_b *
3340 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp + dx_hand_model_B.t1248 *
3341 dx_hand_model_B.Product_f;
3342 dx_hand_model_B.LA1N = (((((dx_hand_model_B.TSamp_cb - dx_hand_model_B.qKN)
3343 - dx_hand_model_B.xD1) - dx_hand_model_B.xD) *
3344 dx_hand_model_B.Saturation2_k - dx_hand_model_B.t1309 *
3345 dx_hand_model_B.LDG * dx_hand_model_B.temp * dx_hand_model_B.TSamp_cm) -
3346 dx_hand_model_B.LA1N * (dx_hand_model_B.LBD * dx_hand_model_B.t12_o)) -
3347 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t3;
3348 dx_hand_model_B.t1226 = ((((dx_hand_model_B.LA1K *
3349 dx_hand_model_B.Saturation3_o *
3350 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g *
3351 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m + dx_hand_model_B.t1226 *
3352 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +
3353 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n *
3354 dx_hand_model_B.Saturation4_f *
3355 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g *
3356 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) - dx_hand_model_B.LDF *
3357 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *
3358 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) - dx_hand_model_B.LLI *
3359 (dx_hand_model_B.LKN - dx_hand_model_B.TSamp_g)) - dx_hand_model_B.t13_b *
3360 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;
3361 dx_hand_model_B.LA1K = (((dx_hand_model_B.LA1K * dx_hand_model_B.t7 *
3362 dx_hand_model_B.xC * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g +
3363 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *
3364 dx_hand_model_B.Saturation2_k * dx_hand_model_B.xC) +
3365 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n * dx_hand_model_B.t28_h *
3366 dx_hand_model_B.xC * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g) -
3367 dx_hand_model_B.xC * (dx_hand_model_B.Product_f *
3368 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe)) - dx_hand_model_B.LDF *
3369 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l * dx_hand_model_B.LDG *
3370 dx_hand_model_B.temp) * dx_hand_model_B.xC;
3371 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = dx_hand_model_B.LA1N *
3372 ((dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a + dx_hand_model_B.t27_m) *
3373 dx_hand_model_B.xD1_tmp_tmp);
3374 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe = dx_hand_model_B.t11_e +
3375 dx_hand_model_B.DataTypeConversion5_n;
3376
3377 /* MATLAB Function: '<S39>/IsNan ' incorporates:
3378 * MATLAB Function: '<S36>/Jacobian Optim '
3379 */
3380 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.t1226 * dx_hand_model_B.LA2K /
3381 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j - ((dx_hand_model_B.LA1K -
3382 dx_hand_model_B.LLI * dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe) -
3383 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) *
3384 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m /
3385 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * dx_hand_model_B.xC);
3386
3387 /* MATLAB Function: '<S36>/Jacobian Optim ' */
3388 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l =
3389 dx_hand_model_B.DataTypeConversion1_d[1] / 1000.0F - dx_hand_model_B.LKH;
3390 dx_hand_model_B.Saturation2_k = dx_hand_model_B.Saturation2_e *
3391 dx_hand_model_B.yD * dx_hand_model_B.temp;
3392 dx_hand_model_B.LKH = dx_hand_model_B.t1251 +
3393 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l *
3394 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
3395 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l = dx_hand_model_B.yH -
3396 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l * dx_hand_model_B.LA2K;
3397 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m =
3398 (((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
3399 dx_hand_model_B.Saturation2_k +
3400 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
3401 (dx_hand_model_B.t14_a * dx_hand_model_B.LKH)) -
3402 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
3403 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *
3404 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l)) -
3405 dx_hand_model_B.t13_b * dx_hand_model_B.LDF_tmp) / dx_hand_model_B.LLI +
3406 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f;
3407 dx_hand_model_B.xC = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *
3408 (dx_hand_model_B.xC * dx_hand_model_B.Saturation2_k);
3409
3410 /* MATLAB Function: '<S39>/IsNan ' incorporates:
3411 * MATLAB Function: '<S36>/Jacobian Optim '
3412 */
3413 dx_hand_model_B.Switch_i[2] =
3414 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m * ((dx_hand_model_B.LA1N *
3415 (dx_hand_model_B.xH * dx_hand_model_B.xH) / (dx_hand_model_B.LLI *
3416 dx_hand_model_B.t1212) + dx_hand_model_B.t1212) * (dx_hand_model_B.LLI *
3417 dx_hand_model_B.LLI)) / dx_hand_model_B.xC;
3418 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.t1226 *
3419 -(((dx_hand_model_B.LKH * dx_hand_model_B.t12_o + dx_hand_model_B.yD *
3420 dx_hand_model_B.LA2K) - dx_hand_model_B.LDF_tmp * dx_hand_model_B.yI)
3421 - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l * dx_hand_model_B.t3) /
3422 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * dx_hand_model_B.yD) -
3423 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m * (dx_hand_model_B.LLI *
3424 dx_hand_model_B.LLI) * (dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe -
3425 (dx_hand_model_B.LA1K - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) /
3426 dx_hand_model_B.LLI) / dx_hand_model_B.xC;
3427 } else {
3428 /* MATLAB Function: '<S39>/IsNan ' incorporates:
3429 * MATLAB Function: '<S36>/Jacobian'
3430 * SignalConversion: '<S48>/TmpSignal ConversionAt SFunction Inport2'
3431 */
3432 dx_hand_model_B.Switch_i[0] = (((((dx_hand_model_B.t14_a *
3433 dx_hand_model_B.t12_o - dx_hand_model_B.DataTypeConversion1_d[13] *
3434 dx_hand_model_B.LA2K * dx_hand_model_B.Saturation2_k *
3435 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p) - dx_hand_model_B.t1226 *
3436 dx_hand_model_B.yI) - dx_hand_model_B.t1226 * (dx_hand_model_B.LDG *
3437 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp)) * (dx_hand_model_B.LDF_tmp
3438 * (dx_hand_model_B.xH * dx_hand_model_B.xH) * dx_hand_model_B.temp) +
3439 dx_hand_model_B.t1252) - dx_hand_model_B.t1253) * -dx_hand_model_B.t1254 /
3440 (dx_hand_model_B.JTcomp_idx_3_tmp_a * (dx_hand_model_B.JTcomp_idx_3_tmp_c *
3441 dx_hand_model_B.t1212));
3442 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.t1255 * dx_hand_model_B.LA2K /
3443 dx_hand_model_B.JTcomp_idx_3_tmp_a - ((dx_hand_model_B.JTcomp_idx_3_tmp_p
3444 - dx_hand_model_B.t1251 * dx_hand_model_B.JTcomp_idx_3_tmp_k) -
3445 dx_hand_model_B.JTcomp_idx_3_tmp_i) * dx_hand_model_B.t1254 /
3446 (dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.JTcomp_idx_3_tmp_c);
3447 dx_hand_model_B.Switch_i[2] = (real32_T)fabs((real_T)(((((((((real32_T)cos
3448 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3449 dx_hand_model_B.DataTypeConversion1_d[5] +
3450 dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)
3451 dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
3452 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3453 dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)cos((real_T)
3454 dx_hand_model_B.y_f[0]) - ((dx_hand_model_B.DataTypeConversion1_d[14] *
3455 (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3456 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3457 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3458 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3459 dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)sin((real_T)
3460 dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +
3461 dx_hand_model_B.DataTypeConversion1_d[8]) * dx_hand_model_B.y_f[7] *
3462 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3463 [3]) - dx_hand_model_B.y_f[4]))) + ((((real32_T)cos((real_T)
3464 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3465 dx_hand_model_B.DataTypeConversion1_d[5] +
3466 dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)
3467 dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
3468 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3469 dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)cos((real_T)
3470 dx_hand_model_B.y_f[0]) - ((dx_hand_model_B.DataTypeConversion1_d[14] *
3471 (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3472 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3473 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3474 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3475 dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)sin((real_T)
3476 dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +
3477 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3478 (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
3479 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3480 dx_hand_model_B.y_f[4])) * ((dx_hand_model_B.DataTypeConversion1_d[0] +
3481 13.5F) * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]) +
3482 (dx_hand_model_B.DataTypeConversion1_d[1] - dx_hand_model_B.y_f[6]) *
3483 (real32_T)sin((real_T)dx_hand_model_B.y_f[0])))) - ((((real32_T)cos
3484 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3485 dx_hand_model_B.DataTypeConversion1_d[5] +
3486 dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)
3487 dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
3488 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3489 dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)cos((real_T)
3490 dx_hand_model_B.y_f[0]) - ((dx_hand_model_B.DataTypeConversion1_d[14] *
3491 (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3492 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3493 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3494 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3495 dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)sin((real_T)
3496 dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +
3497 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)
3498 (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
3499 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3500 dx_hand_model_B.y_f[4])) * ((dx_hand_model_B.DataTypeConversion1_d[0] +
3501 13.5F) * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]) -
3502 (dx_hand_model_B.DataTypeConversion1_d[1] - dx_hand_model_B.y_f[6]) *
3503 (real32_T)cos((real_T)dx_hand_model_B.y_f[0])))) - (((((((real32_T)cos
3504 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3505 dx_hand_model_B.DataTypeConversion1_d[13] - (real32_T)sin((real_T)
3506 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3507 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3508 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3509 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3510 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3511 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])
3512 * ((dx_hand_model_B.DataTypeConversion1_d[7] +
3513 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3514 (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
3515 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3516 dx_hand_model_B.y_f[4]))) - ((((((dx_hand_model_B.DataTypeConversion1_d[9]
3517 * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +
3518 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)
3519 dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)
3520 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3521 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3522 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3523 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3524 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3525 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3526 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3527 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])
3528 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))
3529 + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)
3530 dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *
3531 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin
3532 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3533 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3534 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3535 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3536 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3537 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3538 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3539 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3540 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3541 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin
3542 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3543 dx_hand_model_B.y_f[2])) *
3544 dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)
3545 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3546 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3547 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))))
3548 - (((((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)
3549 dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *
3550 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin
3551 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3552 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3553 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3554 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3555 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3556 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3557 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3558 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3559 dx_hand_model_B.DataTypeConversion1_d[8]) * ((real32_T)cos((real_T)
3560 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3561 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -
3562 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3563 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])
3564 + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3565 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3566 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3567 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3568 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3569 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3570 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3571 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3572 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3573 ((real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3574 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3575 (dx_hand_model_B.DataTypeConversion1_d[7] +
3576 dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)sin((real_T)
3577 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +
3578 ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos((real_T)
3579 dx_hand_model_B.y_f[2]) + dx_hand_model_B.DataTypeConversion1_d[10] *
3580 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos
3581 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3582 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3583 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3584 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3585 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3586 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3587 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3588 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3589 dx_hand_model_B.DataTypeConversion1_d[8]) * (((real32_T)cos((real_T)
3590 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3591 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -
3592 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3593 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])
3594 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])))
3595 + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3596 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3597 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3598 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3599 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3600 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3601 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3602 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3603 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3604 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3605 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)
3606 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) * (real32_T)cos((real_T)
3607 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3608 dx_hand_model_B.y_f[2]))))) * (real32_T)cos((real_T)(dx_hand_model_B.y_f
3609 [0] + dx_hand_model_B.y_f[1]))) * (real32_T)sin((real_T)
3610 dx_hand_model_B.y_f[0]) + (((real32_T)cos((real_T)
3611 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3612 dx_hand_model_B.DataTypeConversion1_d[5] +
3613 dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)
3614 dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
3615 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3616 dx_hand_model_B.DataTypeConversion1_d[13]) *
3617 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3618 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3619 dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)
3620 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3621 dx_hand_model_B.y_f[4])))) * ((dx_hand_model_B.DataTypeConversion1_d[0] +
3622 13.5F) * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]) -
3623 dx_hand_model_B.y_f[6] * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]))) /
3624 (((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)
3625 dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3626 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3627 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3628 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3629 dx_hand_model_B.DataTypeConversion1_d[13]) *
3630 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3631 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3632 dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)
3633 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3634 dx_hand_model_B.y_f[4]))) - (((((((dx_hand_model_B.DataTypeConversion1_d
3635 [9] * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +
3636 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)
3637 dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)
3638 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3639 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3640 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3641 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3642 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3643 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3644 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3645 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])
3646 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))
3647 + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)
3648 dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *
3649 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin
3650 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3651 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3652 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3653 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3654 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3655 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3656 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3657 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3658 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3659 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin
3660 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3661 dx_hand_model_B.y_f[2])) *
3662 dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)
3663 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3664 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3665 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) +
3666 ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3667 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3668 dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)
3669 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3670 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3671 (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))
3672 + (((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3673 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3674 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3675 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3676 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3677 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3678 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3679 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3680 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3681 (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))
3682 - ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3683 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -
3684 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3685 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -
3686 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3687 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3688 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)
3689 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3690 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3691 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))
3692 * ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3693 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *
3694 (dx_hand_model_B.DataTypeConversion1_d[7] +
3695 dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)cos((real_T)
3696 dx_hand_model_B.y_f[0])) + ((dx_hand_model_B.DataTypeConversion1_d[0] +
3697 13.5F) * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]) +
3698 dx_hand_model_B.y_f[6] * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]))) *
3699 (((((((((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)
3700 dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3701 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3702 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3703 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3704 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3705 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3706 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3707 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3708 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3709 dx_hand_model_B.DataTypeConversion1_d[12]) *
3710 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3711 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)
3712 dx_hand_model_B.y_f[0]) * (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] +
3713 dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
3714 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3715 dx_hand_model_B.y_f[4]))) - (dx_hand_model_B.DataTypeConversion1_d[7] +
3716 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3717 dx_hand_model_B.y_f[0]) * (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] +
3718 dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
3719 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3720 dx_hand_model_B.y_f[4])) * ((dx_hand_model_B.DataTypeConversion1_d[14] *
3721 (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3722 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3723 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3724 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3725 dx_hand_model_B.DataTypeConversion1_d[13])) -
3726 ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos((real_T)
3727 dx_hand_model_B.y_f[2]) + dx_hand_model_B.DataTypeConversion1_d[10] *
3728 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos
3729 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3730 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3731 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3732 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3733 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3734 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3735 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3736 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3737 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)
3738 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +
3739 (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos
3740 ((real_T)dx_hand_model_B.y_f[2]) -
3741 dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)sin((real_T)
3742 dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
3743 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3744 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3745 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3746 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3747 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3748 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3749 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3750 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3751 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3752 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin
3753 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3754 dx_hand_model_B.y_f[2])) *
3755 dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)
3756 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3757 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3758 ((real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) *
3759 (real32_T)cos((real_T)dx_hand_model_B.y_f[0])))) -
3760 (((((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos
3761 ((real_T)dx_hand_model_B.y_f[2]) -
3762 dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)sin((real_T)
3763 dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
3764 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3765 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3766 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3767 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3768 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3769 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3770 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3771 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3772 dx_hand_model_B.DataTypeConversion1_d[8]) * ((real32_T)cos((real_T)
3773 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3774 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -
3775 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3776 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])
3777 + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3778 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3779 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3780 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3781 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3782 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3783 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3784 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3785 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3786 ((real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3787 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3788 (dx_hand_model_B.DataTypeConversion1_d[7] +
3789 dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)sin((real_T)
3790 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +
3791 ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos((real_T)
3792 dx_hand_model_B.y_f[2]) + dx_hand_model_B.DataTypeConversion1_d[10] *
3793 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos
3794 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3795 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3796 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3797 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3798 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3799 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3800 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3801 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3802 dx_hand_model_B.DataTypeConversion1_d[8]) * (((real32_T)cos((real_T)
3803 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3804 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -
3805 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3806 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])
3807 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])))
3808 + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3809 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3810 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3811 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3812 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3813 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3814 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3815 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3816 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3817 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3818 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)
3819 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) * (real32_T)cos((real_T)
3820 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3821 dx_hand_model_B.y_f[2]))))) * ((real32_T)cos((real_T)
3822 (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
3823 dx_hand_model_B.y_f[0]))) * (dx_hand_model_B.xH * dx_hand_model_B.xH) /
3824 ((((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)
3825 dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3826 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3827 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3828 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3829 dx_hand_model_B.DataTypeConversion1_d[13]) *
3830 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3831 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3832 dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)
3833 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3834 dx_hand_model_B.y_f[4]))) - (((((((dx_hand_model_B.DataTypeConversion1_d
3835 [9] * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +
3836 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)
3837 dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)
3838 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3839 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3840 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3841 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3842 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3843 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3844 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3845 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])
3846 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))
3847 + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)
3848 dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *
3849 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin
3850 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3851 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3852 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3853 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3854 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3855 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3856 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3857 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3858 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3859 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin
3860 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3861 dx_hand_model_B.y_f[2])) *
3862 dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)
3863 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3864 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3865 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) +
3866 ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3867 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3868 dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)
3869 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3870 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3871 (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))
3872 + (((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3873 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3874 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3875 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3876 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3877 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3878 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3879 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3880 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3881 (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))
3882 - ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3883 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -
3884 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3885 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -
3886 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3887 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3888 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)
3889 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3890 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3891 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))
3892 * ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3893 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *
3894 (dx_hand_model_B.DataTypeConversion1_d[7] +
3895 dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)cos((real_T)
3896 dx_hand_model_B.y_f[0])) * (real32_T)cos((real_T)dx_hand_model_B.y_f[5]))
3897 + (real32_T)cos((real_T)dx_hand_model_B.y_f[5])) *
3898 (dx_hand_model_B.t1251 * dx_hand_model_B.t1251)) /
3899 (((dx_hand_model_B.DataTypeConversion1_d[7] +
3900 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3901 dx_hand_model_B.y_f[0]) * (real32_T)sin((real_T)dx_hand_model_B.y_f[1]) *
3902 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3903 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *
3904 ((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) * (real32_T)cos
3905 ((real_T)dx_hand_model_B.y_f[0]) - dx_hand_model_B.y_f[6] * (real32_T)
3906 sin((real_T)dx_hand_model_B.y_f[0])) *
3907 ((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)
3908 dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3909 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3910 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3911 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3912 dx_hand_model_B.DataTypeConversion1_d[13]) -
3913 ((((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)
3914 dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)
3915 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3916 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3917 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3918 dx_hand_model_B.DataTypeConversion1_d[13]) *
3919 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3920 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3921 dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)
3922 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3923 dx_hand_model_B.y_f[4]))) - (((((((dx_hand_model_B.DataTypeConversion1_d
3924 [9] * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +
3925 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)
3926 dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)
3927 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3928 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
3929 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3930 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
3931 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3932 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3933 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
3934 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])
3935 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))
3936 + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)
3937 dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *
3938 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin
3939 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3940 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
3941 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
3942 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
3943 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3944 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
3945 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3946 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3947 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3948 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin
3949 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3950 dx_hand_model_B.y_f[2])) *
3951 dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)
3952 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3953 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3954 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) +
3955 ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3956 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3957 dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)
3958 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3959 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3960 (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))
3961 + (((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3962 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
3963 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3964 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
3965 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3966 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3967 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)
3968 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3969 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3970 (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))
3971 - ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3972 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -
3973 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3974 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -
3975 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3976 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3977 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)
3978 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3979 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3980 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))
3981 * ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
3982 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *
3983 (dx_hand_model_B.DataTypeConversion1_d[7] +
3984 dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)cos((real_T)
3985 dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[0] +
3986 13.5F) * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]) +
3987 dx_hand_model_B.y_f[6] * (real32_T)cos((real_T)dx_hand_model_B.y_f[0])) -
3988 ((((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
3989 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -
3990 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
3991 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -
3992 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
3993 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
3994 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)
3995 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
3996 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
3997 ((dx_hand_model_B.DataTypeConversion1_d[7] +
3998 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
3999 (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)
4000 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4001 dx_hand_model_B.y_f[4]))) - ((((((dx_hand_model_B.DataTypeConversion1_d[9]
4002 * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +
4003 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)
4004 dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)
4005 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
4006 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)
4007 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
4008 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)
4009 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4010 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
4011 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
4012 [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])
4013 * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))
4014 + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)
4015 dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *
4016 (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin
4017 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
4018 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)
4019 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
4020 dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)
4021 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4022 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -
4023 (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -
4024 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
4025 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)
4026 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin
4027 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4028 dx_hand_model_B.y_f[2])) *
4029 dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)
4030 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4031 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
4032 (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))))
4033 - (((((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos
4034 ((real_T)dx_hand_model_B.y_f[2]) -
4035 dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)sin
4036 ((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)
4037 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
4038 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin
4039 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2]))
4040 * dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin
4041 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])
4042 - dx_hand_model_B.y_f[2])) *
4043 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin
4044 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])
4045 - dx_hand_model_B.y_f[2])) *
4046 dx_hand_model_B.DataTypeConversion1_d[8]) * ((real32_T)cos
4047 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4048 dx_hand_model_B.y_f[2])) *
4049 dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)
4050 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4051 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) +
4052 ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
4053 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
4054 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
4055 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
4056 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
4057 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
4058 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin
4059 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])
4060 - dx_hand_model_B.y_f[2])) *
4061 dx_hand_model_B.DataTypeConversion1_d[12]) * ((real32_T)sin
4062 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4063 dx_hand_model_B.y_f[2])) *
4064 (dx_hand_model_B.DataTypeConversion1_d[7] +
4065 dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)sin((real_T)
4066 (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +
4067 ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos
4068 ((real_T)dx_hand_model_B.y_f[2]) +
4069 dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin
4070 ((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)
4071 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *
4072 dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos
4073 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2]))
4074 * dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos
4075 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])
4076 - dx_hand_model_B.y_f[2])) *
4077 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos
4078 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])
4079 - dx_hand_model_B.y_f[2])) *
4080 dx_hand_model_B.DataTypeConversion1_d[8]) * (((real32_T)cos
4081 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4082 dx_hand_model_B.y_f[2])) *
4083 dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)
4084 ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -
4085 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
4086 (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])))
4087 + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -
4088 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +
4089 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
4090 dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +
4091 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
4092 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *
4093 dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin
4094 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])
4095 - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *
4096 ((dx_hand_model_B.DataTypeConversion1_d[7] +
4097 dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos
4098 ((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) *
4099 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -
4100 dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2]))))) * (real32_T)cos
4101 ((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))) *
4102 (((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) * (real32_T)cos
4103 ((real_T)dx_hand_model_B.y_f[0]) - dx_hand_model_B.y_f[6] * (real32_T)
4104 sin((real_T)dx_hand_model_B.y_f[0])) * (real32_T)sin((real_T)
4105 dx_hand_model_B.y_f[0]))) * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]))
4106 * (((((real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -
4107 dx_hand_model_B.y_f[2])) * 16.0F + dx_hand_model_B.DataTypeConversion1_d
4108 [14] * (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) + (real32_T)
4109 sin((real_T)((dx_hand_model_B.Saturation2 - 1.13446403F) -
4110 dx_hand_model_B.y_f[2])) * 14.36F) -
4111 ((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)
4112 dx_hand_model_B.y_f[2]) - (real32_T)cos((real_T)
4113 (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) * 16.0F) -
4114 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - 1.13446403F) -
4115 dx_hand_model_B.y_f[2])) * 14.36F) * (real32_T)tan((real_T)
4116 dx_hand_model_B.y_f[5])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +
4117 dx_hand_model_B.DataTypeConversion1_d[8]) * dx_hand_model_B.y_f[7] *
4118 (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f
4119 [3]) - dx_hand_model_B.y_f[4])))))));
4120 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.JTcomp_idx_3;
4121 }
4122
4123 /* End of ManualSwitch: '<S36>/Manual Switch' */
4124
4125 /* MATLAB Function: '<S39>/IsNan ' incorporates:
4126 * Memory: '<S39>/Memory'
4127 */
4128 if (rtIsInfF(dx_hand_model_B.Switch_i[0]) || rtIsNaNF
4129 (dx_hand_model_B.Switch_i[0])) {
4130 dx_hand_model_B.Switch_i[0] = dx_hand_model_DW.Memory_PreviousInput[0];
4131 }
4132
4133 dx_hand_model_B.J_c[0] = dx_hand_model_B.Switch_i[0];
4134 if (rtIsInfF(dx_hand_model_B.Switch_i[1]) || rtIsNaNF
4135 (dx_hand_model_B.Switch_i[1])) {
4136 dx_hand_model_B.Switch_i[1] = dx_hand_model_DW.Memory_PreviousInput[1];
4137 }
4138
4139 dx_hand_model_B.J_c[1] = dx_hand_model_B.Switch_i[1];
4140 if (rtIsInfF(dx_hand_model_B.Switch_i[2]) || rtIsNaNF
4141 (dx_hand_model_B.Switch_i[2])) {
4142 dx_hand_model_B.Switch_i[2] = dx_hand_model_DW.Memory_PreviousInput[2];
4143 }
4144
4145 dx_hand_model_B.J_c[2] = dx_hand_model_B.Switch_i[2];
4146 if (rtIsInfF(dx_hand_model_B.Switch_i[3]) || rtIsNaNF
4147 (dx_hand_model_B.Switch_i[3])) {
4148 dx_hand_model_B.Switch_i[3] = dx_hand_model_DW.Memory_PreviousInput[3];
4149 }
4150
4151 dx_hand_model_B.J_c[3] = dx_hand_model_B.Switch_i[3];
4152
4153 /* DiscreteTransferFcn: '<S39>/Filt 4' incorporates:
4154 * Delay: '<S10>/Delay'
4155 * Delay: '<S4>/Delay'
4156 * DiscreteTransferFcn: '<S131>/Filt 4'
4157 * DiscreteTransferFcn: '<S131>/Filt 4'
4158 * DiscreteTransferFcn: '<S176>/Filt 4'
4159 * DiscreteTransferFcn: '<S176>/Filt 4'
4160 * DiscreteTransferFcn: '<S216>/Filt 1'
4161 * DiscreteTransferFcn: '<S216>/Filt 1'
4162 * DiscreteTransferFcn: '<S216>/Filt 2'
4163 * DiscreteTransferFcn: '<S216>/Filt 2'
4164 * DiscreteTransferFcn: '<S216>/Filt 3'
4165 * DiscreteTransferFcn: '<S216>/Filt 3'
4166 * DiscreteTransferFcn: '<S216>/Filt 4'
4167 * DiscreteTransferFcn: '<S216>/Filt 4'
4168 * DiscreteTransferFcn: '<S216>/Filt 5'
4169 * DiscreteTransferFcn: '<S216>/Filt 5'
4170 * DiscreteTransferFcn: '<S216>/Filt 6'
4171 * DiscreteTransferFcn: '<S216>/Filt 6'
4172 * DiscreteTransferFcn: '<S216>/Filt 8'
4173 * DiscreteTransferFcn: '<S216>/Filt 8'
4174 * DiscreteTransferFcn: '<S26>/Filt 4'
4175 * DiscreteTransferFcn: '<S26>/Filt 4'
4176 * DiscreteTransferFcn: '<S27>/Filt 4'
4177 * DiscreteTransferFcn: '<S27>/Filt 4'
4178 * DiscreteTransferFcn: '<S28>/Filt 4'
4179 * DiscreteTransferFcn: '<S28>/Filt 4'
4180 * DiscreteTransferFcn: '<S29>/Filt 4'
4181 * DiscreteTransferFcn: '<S29>/Filt 4'
4182 * DiscreteTransferFcn: '<S30>/Filt 4'
4183 * DiscreteTransferFcn: '<S30>/Filt 4'
4184 * DiscreteTransferFcn: '<S31>/Filt 4'
4185 * DiscreteTransferFcn: '<S31>/Filt 4'
4186 * DiscreteTransferFcn: '<S84>/Filt 4'
4187 * DiscreteTransferFcn: '<S84>/Filt 4'
4188 * S-Function (sdspFromNetwork): '<S4>/Receive from Haptics'
4189 */
4190 dx_hand_model_B.k = 4;
4191
4192 /* Switch: '<S39>/Switch' */
4193 if (dx_hand_model_B.Product_k > dx_hand_model_P.Switch_Threshold_gm) {
4194 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.Filt4_c[0];
4195 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.Filt4_c[1];
4196 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.Filt4_c[2];
4197 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.Filt4_c[3];
4198 }
4199
4200 /* End of Switch: '<S39>/Switch' */
4201
4202 /* RateTransition: '<S69>/Rate Transition' */
4203 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4204 dx_hand_model_B.RateTransition_l = dx_hand_model_DW.RateTransition_Buffer0_a;
4205 }
4206
4207 /* End of RateTransition: '<S69>/Rate Transition' */
4208
4209 /* DiscreteTransferFcn: '<S27>/Filt 4' */
4210 dx_hand_model_B.k = 0;
4211 while (dx_hand_model_B.k < 1) {
4212 dx_hand_model_B.Product_k = dx_hand_model_P.Filt4_NumCoef_d[1] *
4213 dx_hand_model_DW.Filt4_states_p;
4214 dx_hand_model_B.k++;
4215 }
4216
4217 /* RateTransition: '<S24>/Rate Transition' */
4218 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4219 dx_hand_model_B.RateTransition_gt =
4220 dx_hand_model_DW.RateTransition_Buffer0_l;
4221 }
4222
4223 /* End of RateTransition: '<S24>/Rate Transition' */
4224
4225 /* Outputs for Atomic SubSystem: '<S20>/Subscribe1' */
4226 /* Start for MATLABSystem: '<S25>/SourceBlock' incorporates:
4227 * Inport: '<S32>/In1'
4228 */
4229 dx_hand_model_B.xneg = Sub_dx_hand_model_2652.getLatestMessage
4230 (&dx_hand_model_B.msg_k);
4231
4232 /* Outputs for Enabled SubSystem: '<S25>/Enabled Subsystem' incorporates:
4233 * EnablePort: '<S32>/Enable'
4234 */
4235 if (dx_hand_model_B.xneg) {
4236 dx_hand_model_B.In1 = dx_hand_model_B.msg_k;
4237 }
4238
4239 /* End of Start for MATLABSystem: '<S25>/SourceBlock' */
4240 /* End of Outputs for SubSystem: '<S25>/Enabled Subsystem' */
4241 /* End of Outputs for SubSystem: '<S20>/Subscribe1' */
4242
4243 /* DataTypeConversion: '<S24>/Data Type Conversion2' incorporates:
4244 * SignalConversion: '<S20>/SigConversion_InsertedFor_Bus Selector_at_outport_0'
4245 */
4246 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 9; dx_hand_model_B.i++) {
4247 dx_hand_model_B.DataTypeConversion2[dx_hand_model_B.i] = (real32_T)
4248 dx_hand_model_B.In1.Position[dx_hand_model_B.i];
4249 }
4250
4251 /* End of DataTypeConversion: '<S24>/Data Type Conversion2' */
4252
4253 /* Switch: '<S27>/Switch' incorporates:
4254 * DataTypeConversion: '<S24>/Data Type Conversion1'
4255 */
4256 if (!((real32_T)dx_hand_model_B.RateTransition_gt >
4257 dx_hand_model_P.Switch_Threshold_ej)) {
4258 dx_hand_model_B.Product_k = dx_hand_model_B.DataTypeConversion2[3];
4259 }
4260
4261 /* End of Switch: '<S27>/Switch' */
4262
4263 /* RateTransition: '<S76>/Rate Transition' */
4264 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4265 dx_hand_model_B.RateTransition_j = dx_hand_model_DW.RateTransition_Buffer0_h;
4266 }
4267
4268 /* End of RateTransition: '<S76>/Rate Transition' */
4269
4270 /* Product: '<S76>/Product' incorporates:
4271 * DataTypeConversion: '<S76>/Data Type Conversion1'
4272 */
4273 dx_hand_model_B.LKH = (real32_T)dx_hand_model_B.RateTransition_j *
4274 dx_hand_model_B.y_f[0];
4275
4276 /* Saturate: '<S38>/Saturation3' */
4277 if (dx_hand_model_B.LKH > dx_hand_model_P.Saturation3_UpperSat_d) {
4278 dx_hand_model_B.LA1N = dx_hand_model_P.Saturation3_UpperSat_d;
4279 } else if (dx_hand_model_B.LKH < dx_hand_model_P.Saturation3_LowerSat_l) {
4280 dx_hand_model_B.LA1N = dx_hand_model_P.Saturation3_LowerSat_l;
4281 } else {
4282 dx_hand_model_B.LA1N = dx_hand_model_B.LKH;
4283 }
4284
4285 /* End of Saturate: '<S38>/Saturation3' */
4286
4287 /* Product: '<S69>/Product' incorporates:
4288 * DataTypeConversion: '<S69>/Data Type Conversion1'
4289 * Sum: '<S38>/Sum'
4290 */
4291 dx_hand_model_B.Saturation4_f = (dx_hand_model_B.Product_k -
4292 dx_hand_model_B.LA1N) * (real32_T)dx_hand_model_B.RateTransition_l;
4293
4294 /* RateTransition: '<S70>/Rate Transition' */
4295 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4296 dx_hand_model_B.RateTransition_ah =
4297 dx_hand_model_DW.RateTransition_Buffer0_f;
4298 }
4299
4300 /* End of RateTransition: '<S70>/Rate Transition' */
4301
4302 /* DiscreteTransferFcn: '<S26>/Filt 4' */
4303 dx_hand_model_B.k = 0;
4304 while (dx_hand_model_B.k < 1) {
4305 dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_c[1] *
4306 dx_hand_model_DW.Filt4_states_e;
4307 dx_hand_model_B.k++;
4308 }
4309
4310 /* Switch: '<S26>/Switch' incorporates:
4311 * DataTypeConversion: '<S24>/Data Type Conversion1'
4312 */
4313 if (!((real32_T)dx_hand_model_B.RateTransition_gt >
4314 dx_hand_model_P.Switch_Threshold_ab)) {
4315 dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[2];
4316 }
4317
4318 /* End of Switch: '<S26>/Switch' */
4319
4320 /* RateTransition: '<S77>/Rate Transition' */
4321 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4322 dx_hand_model_B.RateTransition_lm =
4323 dx_hand_model_DW.RateTransition_Buffer0_hi;
4324 }
4325
4326 /* End of RateTransition: '<S77>/Rate Transition' */
4327
4328 /* Product: '<S77>/Product' incorporates:
4329 * DataTypeConversion: '<S77>/Data Type Conversion1'
4330 */
4331 dx_hand_model_B.LKN = (real32_T)dx_hand_model_B.RateTransition_lm *
4332 dx_hand_model_B.y_f[1];
4333
4334 /* Saturate: '<S38>/Saturation4' */
4335 if (dx_hand_model_B.LKN > dx_hand_model_P.Saturation4_UpperSat_l) {
4336 dx_hand_model_B.Sum1_h = dx_hand_model_P.Saturation4_UpperSat_l;
4337 } else if (dx_hand_model_B.LKN < dx_hand_model_P.Saturation4_LowerSat_a) {
4338 dx_hand_model_B.Sum1_h = dx_hand_model_P.Saturation4_LowerSat_a;
4339 } else {
4340 dx_hand_model_B.Sum1_h = dx_hand_model_B.LKN;
4341 }
4342
4343 /* End of Saturate: '<S38>/Saturation4' */
4344
4345 /* RateTransition: '<S71>/Rate Transition' incorporates:
4346 * RateTransition: '<S67>/Rate Transition'
4347 */
4348 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4349 dx_hand_model_B.RateTransition_k =
4350 dx_hand_model_DW.RateTransition_Buffer0_eo;
4351 dx_hand_model_B.RateTransition_n = dx_hand_model_DW.RateTransition_Buffer0_k;
4352 }
4353
4354 /* End of RateTransition: '<S71>/Rate Transition' */
4355
4356 /* SampleTimeMath: '<S63>/TSamp'
4357 *
4358 * About '<S63>/TSamp':
4359 * y = u * K where K = 1 / ( w * Ts )
4360 */
4361 dx_hand_model_B.qKN = dx_hand_model_B.Product_k * dx_hand_model_P.TSamp_WtEt;
4362
4363 /* SampleTimeMath: '<S61>/TSamp'
4364 *
4365 * About '<S61>/TSamp':
4366 * y = u * K where K = 1 / ( w * Ts )
4367 */
4368 dx_hand_model_B.LA1N *= dx_hand_model_P.TSamp_WtEt_l;
4369
4370 /* RateTransition: '<S72>/Rate Transition' incorporates:
4371 * RateTransition: '<S68>/Rate Transition'
4372 */
4373 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4374 dx_hand_model_B.RateTransition_o =
4375 dx_hand_model_DW.RateTransition_Buffer0_lg;
4376 dx_hand_model_B.RateTransition_k1 =
4377 dx_hand_model_DW.RateTransition_Buffer0_d;
4378 }
4379
4380 /* End of RateTransition: '<S72>/Rate Transition' */
4381
4382 /* SampleTimeMath: '<S64>/TSamp'
4383 *
4384 * About '<S64>/TSamp':
4385 * y = u * K where K = 1 / ( w * Ts )
4386 */
4387 dx_hand_model_B.LA1K = dx_hand_model_B.Sum_a * dx_hand_model_P.TSamp_WtEt_d;
4388
4389 /* SampleTimeMath: '<S62>/TSamp'
4390 *
4391 * About '<S62>/TSamp':
4392 * y = u * K where K = 1 / ( w * Ts )
4393 */
4394 dx_hand_model_B.LA2K = dx_hand_model_B.Sum1_h * dx_hand_model_P.TSamp_WtEt_b;
4395
4396 /* Switch: '<S67>/Switch' incorporates:
4397 * Constant: '<S67>/Constant'
4398 * DataTypeConversion: '<S67>/Data Type Conversion1'
4399 * Sum: '<S63>/Diff'
4400 * UnitDelay: '<S63>/UD'
4401 */
4402 if ((real32_T)dx_hand_model_B.RateTransition_n >
4403 dx_hand_model_P.Switch_Threshold_d) {
4404 dx_hand_model_B.t4_o = dx_hand_model_B.qKN - dx_hand_model_DW.UD_DSTATE;
4405 } else {
4406 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_nm;
4407 }
4408
4409 /* End of Switch: '<S67>/Switch' */
4410
4411 /* Sum: '<S38>/Sum2' incorporates:
4412 * DataTypeConversion: '<S71>/Data Type Conversion1'
4413 * Product: '<S71>/Product'
4414 * Sum: '<S38>/Sum3'
4415 * Sum: '<S61>/Diff'
4416 * UnitDelay: '<S61>/UD'
4417 */
4418 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -
4419 (dx_hand_model_B.LA1N - dx_hand_model_DW.UD_DSTATE_e)) * (real32_T)
4420 dx_hand_model_B.RateTransition_k + dx_hand_model_B.Saturation4_f;
4421
4422 /* Switch: '<S68>/Switch' incorporates:
4423 * Constant: '<S68>/Constant'
4424 * DataTypeConversion: '<S68>/Data Type Conversion1'
4425 * Sum: '<S64>/Diff'
4426 * UnitDelay: '<S64>/UD'
4427 */
4428 if ((real32_T)dx_hand_model_B.RateTransition_k1 >
4429 dx_hand_model_P.Switch_Threshold_c) {
4430 dx_hand_model_B.t4_o = dx_hand_model_B.LA1K - dx_hand_model_DW.UD_DSTATE_h;
4431 } else {
4432 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_f;
4433 }
4434
4435 /* End of Switch: '<S68>/Switch' */
4436
4437 /* Sum: '<S38>/Sum2' incorporates:
4438 * DataTypeConversion: '<S70>/Data Type Conversion1'
4439 * DataTypeConversion: '<S72>/Data Type Conversion1'
4440 * Product: '<S70>/Product'
4441 * Product: '<S72>/Product'
4442 * Sum: '<S38>/Sum1'
4443 * Sum: '<S38>/Sum4'
4444 * Sum: '<S62>/Diff'
4445 * UnitDelay: '<S62>/UD'
4446 */
4447 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -
4448 (dx_hand_model_B.LA2K - dx_hand_model_DW.UD_DSTATE_d)) * (real32_T)
4449 dx_hand_model_B.RateTransition_o + (dx_hand_model_B.Sum_a -
4450 dx_hand_model_B.Sum1_h) * (real32_T)dx_hand_model_B.RateTransition_ah;
4451
4452 /* MATLAB Function: '<S38>/Optimized_Static_Problem' */
4453 Optimized_Static_Problem_e(dx_hand_model_B.Switch_i,
4454 dx_hand_model_B.TmpSignalConversionAtSFun_c,
4455 &dx_hand_model_B.sf_Optimized_Static_Problem);
4456
4457 /* RateTransition: '<S66>/Rate Transition' */
4458 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4459 dx_hand_model_B.RateTransition_ov =
4460 dx_hand_model_DW.RateTransition_Buffer0_fj;
4461 }
4462
4463 /* End of RateTransition: '<S66>/Rate Transition' */
4464
4465 /* MATLAB Function: '<S38>/Classic_Static_Problem' */
4466 dx_h_Classic_Static_Problem(dx_hand_model_B.Switch_i,
4467 dx_hand_model_B.TmpSignalConversionAtSFun_c,
4468 &dx_hand_model_B.sf_Classic_Static_Problem);
4469
4470 /* RateTransition: '<S34>/Rate Transition' incorporates:
4471 * RateTransition: '<S47>/Rate Transition'
4472 */
4473 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4474 dx_hand_model_B.RateTransition_jm =
4475 dx_hand_model_DW.RateTransition_Buffer0_b;
4476 dx_hand_model_B.RateTransition_lp =
4477 dx_hand_model_DW.RateTransition_Buffer0_jl;
4478 }
4479
4480 /* End of RateTransition: '<S34>/Rate Transition' */
4481
4482 /* Outputs for Atomic SubSystem: '<S19>/Subscribe' */
4483 /* Start for MATLABSystem: '<S21>/SourceBlock' incorporates:
4484 * Inport: '<S22>/In1'
4485 */
4486 dx_hand_model_B.xneg = Sub_dx_hand_model_437.getLatestMessage
4487 (&dx_hand_model_B.b_varargout_2);
4488
4489 /* Outputs for Enabled SubSystem: '<S21>/Enabled Subsystem' incorporates:
4490 * EnablePort: '<S22>/Enable'
4491 */
4492 if (dx_hand_model_B.xneg) {
4493 dx_hand_model_B.In1_e = dx_hand_model_B.b_varargout_2;
4494 }
4495
4496 /* End of Start for MATLABSystem: '<S21>/SourceBlock' */
4497 /* End of Outputs for SubSystem: '<S21>/Enabled Subsystem' */
4498 /* End of Outputs for SubSystem: '<S19>/Subscribe' */
4499
4500 /* ManualSwitch: '<S47>/Manual Switch' incorporates:
4501 * Constant: '<S47>/Constant'
4502 * DataTypeConversion: '<S47>/Data Type Conversion2'
4503 */
4504 if (dx_hand_model_P.ManualSwitch_CurrentSetting_i == 1) {
4505 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_lp;
4506 } else {
4507 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_e2;
4508 }
4509
4510 /* End of ManualSwitch: '<S47>/Manual Switch' */
4511
4512 /* DataTypeConversion: '<S47>/Data Type Conversion1' incorporates:
4513 * Gain: '<S44>/Maximum Torque'
4514 * Gain: '<S44>/Normalize Current'
4515 * Gain: '<S44>/Sign'
4516 * Product: '<S47>/Product'
4517 */
4518 dx_hand_model_B.yD = (real32_T)(dx_hand_model_P.NormalizeCurrent_Gain *
4519 dx_hand_model_B.In1_e.Data[3] * dx_hand_model_P.MaximumTorque_Gain *
4520 dx_hand_model_P.Sign_Gain * dx_hand_model_B.t4_o);
4521
4522 /* RateTransition: '<S46>/Rate Transition' */
4523 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4524 dx_hand_model_B.RateTransition_p = dx_hand_model_DW.RateTransition_Buffer0_g;
4525 }
4526
4527 /* End of RateTransition: '<S46>/Rate Transition' */
4528
4529 /* ManualSwitch: '<S46>/Manual Switch' incorporates:
4530 * Constant: '<S46>/Constant'
4531 * DataTypeConversion: '<S46>/Data Type Conversion2'
4532 */
4533 if (dx_hand_model_P.ManualSwitch_CurrentSetting_n == 1) {
4534 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_p;
4535 } else {
4536 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_jk;
4537 }
4538
4539 /* End of ManualSwitch: '<S46>/Manual Switch' */
4540
4541 /* Product: '<S46>/Product' incorporates:
4542 * Gain: '<S44>/Gain1'
4543 * Gain: '<S44>/Maximum Torque1'
4544 * Gain: '<S44>/Sign1'
4545 */
4546 dx_hand_model_B.Switch = dx_hand_model_P.Gain1_Gain *
4547 dx_hand_model_B.In1_e.Data[2] * dx_hand_model_P.MaximumTorque1_Gain *
4548 dx_hand_model_P.Sign1_Gain * dx_hand_model_B.t4_o;
4549
4550 /* MATLAB Function: '<S35>/Optimized_Static_Problem' incorporates:
4551 * DataTypeConversion: '<S46>/Data Type Conversion1'
4552 */
4553 dx_Optimized_Static_Problem(dx_hand_model_B.Switch_i, dx_hand_model_B.yD,
4554 (real32_T)dx_hand_model_B.Switch,
4555 &dx_hand_model_B.sf_Optimized_Static_Problem_j);
4556
4557 /* RateTransition: '<S45>/Rate Transition' incorporates:
4558 * RateTransition: '<S41>/Rate Transition'
4559 */
4560 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4561 dx_hand_model_B.RateTransition_b =
4562 dx_hand_model_DW.RateTransition_Buffer0_kp;
4563 dx_hand_model_B.RateTransition_pg =
4564 dx_hand_model_DW.RateTransition_Buffer0_k1;
4565 }
4566
4567 /* End of RateTransition: '<S45>/Rate Transition' */
4568
4569 /* Switch: '<S34>/Switch' incorporates:
4570 * DataTypeConversion: '<S34>/Data Type Conversion1'
4571 * DataTypeConversion: '<S45>/Data Type Conversion1'
4572 * DataTypeConversion: '<S46>/Data Type Conversion1'
4573 * MATLAB Function: '<S35>/Classic_Static_Problem'
4574 * SignalConversion: '<S42>/TmpSignal ConversionAt SFunction Inport2'
4575 * Switch: '<S45>/Switch'
4576 */
4577 if ((real32_T)dx_hand_model_B.RateTransition_jm >
4578 dx_hand_model_P.Switch_Threshold_kg) {
4579 /* Switch: '<S66>/Switch' incorporates:
4580 * DataTypeConversion: '<S66>/Data Type Conversion1'
4581 */
4582 if ((real32_T)dx_hand_model_B.RateTransition_ov >
4583 dx_hand_model_P.Switch_Threshold_b3) {
4584 dx_hand_model_B.yD = dx_hand_model_B.sf_Optimized_Static_Problem.y;
4585 } else {
4586 dx_hand_model_B.yD = dx_hand_model_B.sf_Classic_Static_Problem.rate;
4587 }
4588
4589 /* End of Switch: '<S66>/Switch' */
4590 } else if ((real32_T)dx_hand_model_B.RateTransition_b >
4591 dx_hand_model_P.Switch_Threshold_i) {
4592 /* Switch: '<S45>/Switch' */
4593 dx_hand_model_B.yD = dx_hand_model_B.sf_Optimized_Static_Problem_j.y;
4594 } else {
4595 dx_hand_model_B.yD = dx_hand_model_B.Switch_i[0] * dx_hand_model_B.yD +
4596 dx_hand_model_B.Switch_i[2] * (real32_T)dx_hand_model_B.Switch;
4597 }
4598
4599 /* End of Switch: '<S34>/Switch' */
4600
4601 /* Switch: '<S33>/Switch' incorporates:
4602 * Constant: '<S33>/Constant'
4603 */
4604 if (dx_hand_model_B.Switch_n > dx_hand_model_P.Switch_Threshold_lk) {
4605 /* Switch: '<S41>/Switch' incorporates:
4606 * DataTypeConversion: '<S41>/Data Type Conversion1'
4607 * Saturate: '<S41>/Saturation2'
4608 */
4609 if ((real32_T)dx_hand_model_B.RateTransition_pg >
4610 dx_hand_model_P.Switch_Threshold_a) {
4611 /* Saturate: '<S41>/Saturation1' */
4612 if (dx_hand_model_B.yD > dx_hand_model_P.max_force) {
4613 dx_hand_model_B.Switch_n = dx_hand_model_P.max_force;
4614 } else if (dx_hand_model_B.yD < dx_hand_model_P.Saturation1_LowerSat) {
4615 dx_hand_model_B.Switch_n = dx_hand_model_P.Saturation1_LowerSat;
4616 } else {
4617 dx_hand_model_B.Switch_n = dx_hand_model_B.yD;
4618 }
4619
4620 /* End of Saturate: '<S41>/Saturation1' */
4621 } else if (dx_hand_model_B.yD > dx_hand_model_P.Saturation2_UpperSat) {
4622 /* Saturate: '<S41>/Saturation2' */
4623 dx_hand_model_B.Switch_n = dx_hand_model_P.Saturation2_UpperSat;
4624 } else if (dx_hand_model_B.yD < dx_hand_model_P.Saturation2_LowerSat) {
4625 /* Saturate: '<S41>/Saturation2' */
4626 dx_hand_model_B.Switch_n = dx_hand_model_P.Saturation2_LowerSat;
4627 } else {
4628 /* Saturate: '<S41>/Saturation2' */
4629 dx_hand_model_B.Switch_n = dx_hand_model_B.yD;
4630 }
4631
4632 /* End of Switch: '<S41>/Switch' */
4633 } else {
4634 dx_hand_model_B.Switch_n = dx_hand_model_P.Constant_Value_k;
4635 }
4636
4637 /* End of Switch: '<S33>/Switch' */
4638
4639 /* ManualSwitch: '<S37>/Manual Switch' incorporates:
4640 * Constant: '<S37>/Constant'
4641 * Constant: '<S37>/Constant3'
4642 */
4643 if (dx_hand_model_P.ManualSwitch_CurrentSetting_d == 1) {
4644 dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_ht;
4645 } else {
4646 dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value;
4647 }
4648
4649 /* End of ManualSwitch: '<S37>/Manual Switch' */
4650
4651 /* Outputs for Enabled SubSystem: '<S37>/Record' incorporates:
4652 * EnablePort: '<S54>/Enable'
4653 */
4654 if (dx_hand_model_B.t4 > 0.0) {
4655 /* SignalConversion: '<S54>/TmpSignal ConversionAtTo WorkspaceInport1' */
4656 dx_hand_model_B.TmpSignalConversionAtTo_ofc[0] = dx_hand_model_B.Saturation3;
4657 dx_hand_model_B.TmpSignalConversionAtTo_ofc[1] = dx_hand_model_B.Saturation2;
4658 memcpy(&dx_hand_model_B.TmpSignalConversionAtTo_ofc[2],
4659 &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));
4660 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {
4661 dx_hand_model_B.TmpSignalConversionAtTo_ofc[dx_hand_model_B.i + 20] =
4662 dx_hand_model_B.y_f[dx_hand_model_B.i];
4663 }
4664
4665 /* End of SignalConversion: '<S54>/TmpSignal ConversionAtTo WorkspaceInport1' */
4666 }
4667
4668 /* End of Outputs for SubSystem: '<S37>/Record' */
4669
4670 /* Start for MATLABSystem: '<S50>/Set Parameter' incorporates:
4671 * DataTypeConversion: '<S50>/Data Type Conversion2'
4672 */
4673 ParamSet_dx_hand_model_2630.set_parameter((real_T)dx_hand_model_B.Delay_m[13]);
4674
4675 /* RateTransition: '<S78>/Rate Transition' */
4676 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4677 dx_hand_model_B.RateTransition_pi =
4678 dx_hand_model_DW.RateTransition_Buffer0_m;
4679 }
4680
4681 /* End of RateTransition: '<S78>/Rate Transition' */
4682
4683 /* DiscreteTransferFcn: '<S84>/Filt 4' */
4684 dx_hand_model_B.k = 0;
4685 while (dx_hand_model_B.k < 4) {
4686 dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef_g[1] *
4687 dx_hand_model_DW.Filt4_states_g[dx_hand_model_B.k];
4688 dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;
4689 dx_hand_model_B.k++;
4690 }
4691
4692 /* RateTransition: '<S84>/Rate Transition' */
4693 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4694 dx_hand_model_B.RateTransition_i = dx_hand_model_DW.RateTransition_Buffer0_c;
4695 }
4696
4697 /* End of RateTransition: '<S84>/Rate Transition' */
4698
4699 /* Gain: '<S94>/Gain Aggiustato' */
4700 dx_hand_model_B.xH = dx_hand_model_P.GainAggiustato_Gain_m4 *
4701 dx_hand_model_B.Delay_m[9];
4702
4703 /* Saturate: '<S81>/Saturation2' */
4704 if (dx_hand_model_B.xH > dx_hand_model_P.Saturation2_UpperSat_j) {
4705 dx_hand_model_B.xH = dx_hand_model_P.Saturation2_UpperSat_j;
4706 } else {
4707 if (dx_hand_model_B.xH < dx_hand_model_P.Saturation2_LowerSat_f) {
4708 dx_hand_model_B.xH = dx_hand_model_P.Saturation2_LowerSat_f;
4709 }
4710 }
4711
4712 /* End of Saturate: '<S81>/Saturation2' */
4713
4714 /* RateTransition: '<S92>/Rate Transition' */
4715 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4716 dx_hand_model_B.RateTransition_d =
4717 dx_hand_model_DW.RateTransition_Buffer0_mu;
4718 }
4719
4720 /* End of RateTransition: '<S92>/Rate Transition' */
4721
4722 /* ManualSwitch: '<S92>/Manual Switch' incorporates:
4723 * Constant: '<S92>/Constant1'
4724 * DataTypeConversion: '<S92>/Data Type Conversion1'
4725 */
4726 if (dx_hand_model_P.ManualSwitch_CurrentSetting_dn == 1) {
4727 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_d;
4728 } else {
4729 dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_n;
4730 }
4731
4732 /* End of ManualSwitch: '<S92>/Manual Switch' */
4733
4734 /* Sum: '<S92>/Sum1' incorporates:
4735 * Constant: '<S92>/Constant'
4736 * Gain: '<S92>/Gain Aggiustato'
4737 * Sum: '<S92>/Sum2'
4738 */
4739 dx_hand_model_B.Sum_a = dx_hand_model_P.Constant_Value_p -
4740 (dx_hand_model_B.Delay_m[14] - dx_hand_model_B.t4_o) *
4741 dx_hand_model_P.GainAggiustato_Gain_jj;
4742
4743 /* Saturate: '<S81>/Saturation3' */
4744 if (dx_hand_model_B.Sum_a > dx_hand_model_P.Saturation3_UpperSat_i) {
4745 dx_hand_model_B.yI = dx_hand_model_P.Saturation3_UpperSat_i;
4746 } else if (dx_hand_model_B.Sum_a < dx_hand_model_P.Saturation3_LowerSat_m) {
4747 dx_hand_model_B.yI = dx_hand_model_P.Saturation3_LowerSat_m;
4748 } else {
4749 dx_hand_model_B.yI = dx_hand_model_B.Sum_a;
4750 }
4751
4752 /* End of Saturate: '<S81>/Saturation3' */
4753
4754 /* RateTransition: '<S81>/Rate Transition' */
4755 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4756 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {
4757 dx_hand_model_B.RateTransition_ie[dx_hand_model_B.i] =
4758 dx_hand_model_DW.RateTransition_Buffer0_dg[dx_hand_model_B.i];
4759 }
4760 }
4761
4762 /* End of RateTransition: '<S81>/Rate Transition' */
4763
4764 /* MATLAB Function: '<S96>/Middle Parameters' */
4765 dx_hand_model_B.y_e[0] = dx_hand_model_B.RateTransition_ie[0];
4766 dx_hand_model_B.y_e[1] = dx_hand_model_B.RateTransition_ie[1];
4767 dx_hand_model_B.y_e[2] = dx_hand_model_B.RateTransition_ie[2];
4768 dx_hand_model_B.y_e[3] = dx_hand_model_B.RateTransition_ie[3];
4769 dx_hand_model_B.y_e[4] = 18.0;
4770 dx_hand_model_B.y_e[5] = 41.0;
4771 dx_hand_model_B.y_e[6] = 9.0;
4772 dx_hand_model_B.y_e[7] = 52.0;
4773 dx_hand_model_B.y_e[8] = 21.0;
4774 dx_hand_model_B.y_e[9] = 37.0;
4775 dx_hand_model_B.y_e[10] = 86.0;
4776 dx_hand_model_B.y_e[11] = 46.0;
4777 dx_hand_model_B.y_e[12] = 39.0;
4778 dx_hand_model_B.y_e[13] = 17.0;
4779 dx_hand_model_B.y_e[14] = 35.0;
4780 dx_hand_model_B.y_e[15] = 27.0;
4781 dx_hand_model_B.y_e[16] = 117.0;
4782 dx_hand_model_B.y_e[17] = 98.0;
4783
4784 /* DataTypeConversion: '<S96>/Data Type Conversion1' */
4785 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {
4786 dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)
4787 dx_hand_model_B.y_e[dx_hand_model_B.i];
4788 }
4789
4790 /* End of DataTypeConversion: '<S96>/Data Type Conversion1' */
4791
4792 /* MATLAB Function: '<S81>/Middle Direct Kinematics' */
4793 dx_h_MiddleDirectKinematics(dx_hand_model_B.xH, dx_hand_model_B.yI,
4794 dx_hand_model_B.DataTypeConversion1_d,
4795 &dx_hand_model_B.sf_MiddleDirectKinematics);
4796
4797 /* MATLAB Function: '<S80>/Middle Jacobian ' */
4798 dx_hand_mo_MiddleJacobian_g(dx_hand_model_B.sf_MiddleDirectKinematics.y,
4799 dx_hand_model_B.yI, dx_hand_model_B.DataTypeConversion1_d,
4800 &dx_hand_model_B.sf_MiddleJacobian);
4801
4802 /* UnitDelay: '<S80>/Unit Delay3' */
4803 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] =
4804 dx_hand_model_DW.UnitDelay3_DSTATE_k[0];
4805 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =
4806 dx_hand_model_DW.UnitDelay3_DSTATE_k[1];
4807
4808 /* MATLAB Function: '<S80>/Middle Jacobian' incorporates:
4809 * UnitDelay: '<S80>/Unit Delay1'
4810 */
4811 dx_hand_mode_MiddleJacobian(dx_hand_model_B.sf_MiddleDirectKinematics.y,
4812 dx_hand_model_B.xH, dx_hand_model_B.yI,
4813 dx_hand_model_B.DataTypeConversion1_d,
4814 dx_hand_model_B.TmpSignalConversionAtSFun_c,
4815 dx_hand_model_DW.UnitDelay1_DSTATE_e, &dx_hand_model_B.sf_MiddleJacobian_o);
4816
4817 /* ManualSwitch: '<S80>/Manual Switch' */
4818 if (dx_hand_model_P.ManualSwitch_CurrentSetting_m == 1) {
4819 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[0];
4820 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[1];
4821 } else {
4822 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[0];
4823 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[1];
4824 }
4825
4826 /* Memory: '<S84>/Memory' */
4827 dx_hand_model_B.Memory_d[0] = dx_hand_model_DW.Memory_PreviousInput_k[0];
4828 dx_hand_model_B.Memory_d[1] = dx_hand_model_DW.Memory_PreviousInput_k[1];
4829
4830 /* ManualSwitch: '<S80>/Manual Switch' */
4831 if (dx_hand_model_P.ManualSwitch_CurrentSetting_m == 1) {
4832 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[2];
4833 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[3];
4834 } else {
4835 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[2];
4836 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[3];
4837 }
4838
4839 /* Memory: '<S84>/Memory' */
4840 dx_hand_model_B.Memory_d[2] = dx_hand_model_DW.Memory_PreviousInput_k[2];
4841 dx_hand_model_B.Memory_d[3] = dx_hand_model_DW.Memory_PreviousInput_k[3];
4842
4843 /* MATLAB Function: '<S84>/IsNan ' */
4844 dx_hand_model_IsNan(dx_hand_model_B.Switch_i, dx_hand_model_B.Memory_d,
4845 &dx_hand_model_B.sf_IsNan_d);
4846
4847 /* Switch: '<S84>/Switch' incorporates:
4848 * DataTypeConversion: '<S84>/Data Type Conversion1'
4849 */
4850 if ((real32_T)dx_hand_model_B.RateTransition_i >
4851 dx_hand_model_P.Switch_Threshold_fu) {
4852 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.Filt4_c[0];
4853 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.Filt4_c[1];
4854 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.Filt4_c[2];
4855 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.Filt4_c[3];
4856 } else {
4857 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_IsNan_d.J[0];
4858 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_IsNan_d.J[1];
4859 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_IsNan_d.J[2];
4860 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_IsNan_d.J[3];
4861 }
4862
4863 /* End of Switch: '<S84>/Switch' */
4864
4865 /* RateTransition: '<S119>/Rate Transition' */
4866 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4867 dx_hand_model_B.RateTransition_gd =
4868 dx_hand_model_DW.RateTransition_Buffer0_n;
4869 }
4870
4871 /* End of RateTransition: '<S119>/Rate Transition' */
4872
4873 /* DiscreteTransferFcn: '<S29>/Filt 4' */
4874 dx_hand_model_B.k = 0;
4875 while (dx_hand_model_B.k < 1) {
4876 dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_k[1] *
4877 dx_hand_model_DW.Filt4_states_n;
4878 dx_hand_model_B.k++;
4879 }
4880
4881 /* Switch: '<S29>/Switch' incorporates:
4882 * DataTypeConversion: '<S24>/Data Type Conversion1'
4883 */
4884 if (!((real32_T)dx_hand_model_B.RateTransition_gt >
4885 dx_hand_model_P.Switch_Threshold_iy)) {
4886 dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[5];
4887 }
4888
4889 /* End of Switch: '<S29>/Switch' */
4890
4891 /* RateTransition: '<S87>/Rate Transition' */
4892 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4893 dx_hand_model_B.RateTransition_ii =
4894 dx_hand_model_DW.RateTransition_Buffer0_nl;
4895 }
4896
4897 /* End of RateTransition: '<S87>/Rate Transition' */
4898
4899 /* Product: '<S87>/Product' incorporates:
4900 * DataTypeConversion: '<S87>/Data Type Conversion1'
4901 */
4902 dx_hand_model_B.Saturation2 = (real32_T)dx_hand_model_B.RateTransition_ii *
4903 dx_hand_model_B.sf_MiddleDirectKinematics.y[0];
4904
4905 /* Saturate: '<S83>/Saturation3' */
4906 if (dx_hand_model_B.Saturation2 > dx_hand_model_P.Saturation3_UpperSat_p) {
4907 dx_hand_model_B.DataTypeConversion5_n =
4908 dx_hand_model_P.Saturation3_UpperSat_p;
4909 } else if (dx_hand_model_B.Saturation2 <
4910 dx_hand_model_P.Saturation3_LowerSat_mt) {
4911 dx_hand_model_B.DataTypeConversion5_n =
4912 dx_hand_model_P.Saturation3_LowerSat_mt;
4913 } else {
4914 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Saturation2;
4915 }
4916
4917 /* End of Saturate: '<S83>/Saturation3' */
4918
4919 /* RateTransition: '<S120>/Rate Transition' */
4920 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4921 dx_hand_model_B.RateTransition_po =
4922 dx_hand_model_DW.RateTransition_Buffer0_az;
4923 }
4924
4925 /* End of RateTransition: '<S120>/Rate Transition' */
4926
4927 /* DiscreteTransferFcn: '<S28>/Filt 4' */
4928 dx_hand_model_B.k = 0;
4929 while (dx_hand_model_B.k < 1) {
4930 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Filt4_NumCoef_cz[1] *
4931 dx_hand_model_DW.Filt4_states_b;
4932 dx_hand_model_B.k++;
4933 }
4934
4935 /* Switch: '<S28>/Switch' incorporates:
4936 * DataTypeConversion: '<S24>/Data Type Conversion1'
4937 */
4938 if (!((real32_T)dx_hand_model_B.RateTransition_gt >
4939 dx_hand_model_P.Switch_Threshold_bb)) {
4940 dx_hand_model_B.Saturation4_f = dx_hand_model_B.DataTypeConversion2[4];
4941 }
4942
4943 /* End of Switch: '<S28>/Switch' */
4944
4945 /* RateTransition: '<S88>/Rate Transition' */
4946 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4947 dx_hand_model_B.RateTransition_aj =
4948 dx_hand_model_DW.RateTransition_Buffer0_jv;
4949 }
4950
4951 /* End of RateTransition: '<S88>/Rate Transition' */
4952
4953 /* Product: '<S88>/Product' incorporates:
4954 * DataTypeConversion: '<S88>/Data Type Conversion1'
4955 */
4956 dx_hand_model_B.yD = (real32_T)dx_hand_model_B.RateTransition_aj *
4957 dx_hand_model_B.sf_MiddleDirectKinematics.y[1];
4958
4959 /* Saturate: '<S83>/Saturation4' */
4960 if (dx_hand_model_B.yD > dx_hand_model_P.Saturation4_UpperSat_n) {
4961 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_UpperSat_n;
4962 } else if (dx_hand_model_B.yD < dx_hand_model_P.Saturation4_LowerSat_o) {
4963 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_LowerSat_o;
4964 } else {
4965 dx_hand_model_B.Product_k = dx_hand_model_B.yD;
4966 }
4967
4968 /* End of Saturate: '<S83>/Saturation4' */
4969
4970 /* RateTransition: '<S121>/Rate Transition' incorporates:
4971 * RateTransition: '<S117>/Rate Transition'
4972 */
4973 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
4974 dx_hand_model_B.RateTransition_oh =
4975 dx_hand_model_DW.RateTransition_Buffer0_at;
4976 dx_hand_model_B.RateTransition_bq =
4977 dx_hand_model_DW.RateTransition_Buffer0_bq;
4978 }
4979
4980 /* End of RateTransition: '<S121>/Rate Transition' */
4981
4982 /* SampleTimeMath: '<S113>/TSamp'
4983 *
4984 * About '<S113>/TSamp':
4985 * y = u * K where K = 1 / ( w * Ts )
4986 */
4987 dx_hand_model_B.LBD = dx_hand_model_B.Sum_a * dx_hand_model_P.TSamp_WtEt_h;
4988
4989 /* SampleTimeMath: '<S111>/TSamp'
4990 *
4991 * About '<S111>/TSamp':
4992 * y = u * K where K = 1 / ( w * Ts )
4993 */
4994 dx_hand_model_B.xD = dx_hand_model_B.DataTypeConversion5_n *
4995 dx_hand_model_P.TSamp_WtEt_e;
4996
4997 /* RateTransition: '<S122>/Rate Transition' incorporates:
4998 * RateTransition: '<S118>/Rate Transition'
4999 */
5000 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5001 dx_hand_model_B.RateTransition_m = dx_hand_model_DW.RateTransition_Buffer0_i;
5002 dx_hand_model_B.RateTransition_pa =
5003 dx_hand_model_DW.RateTransition_Buffer0_no;
5004 }
5005
5006 /* End of RateTransition: '<S122>/Rate Transition' */
5007
5008 /* SampleTimeMath: '<S114>/TSamp'
5009 *
5010 * About '<S114>/TSamp':
5011 * y = u * K where K = 1 / ( w * Ts )
5012 */
5013 dx_hand_model_B.LDF = dx_hand_model_B.Saturation4_f *
5014 dx_hand_model_P.TSamp_WtEt_n;
5015
5016 /* SampleTimeMath: '<S112>/TSamp'
5017 *
5018 * About '<S112>/TSamp':
5019 * y = u * K where K = 1 / ( w * Ts )
5020 */
5021 dx_hand_model_B.xC = dx_hand_model_B.Product_k * dx_hand_model_P.TSamp_WtEt_i;
5022
5023 /* Switch: '<S117>/Switch' incorporates:
5024 * Constant: '<S117>/Constant'
5025 * DataTypeConversion: '<S117>/Data Type Conversion1'
5026 * Sum: '<S113>/Diff'
5027 * UnitDelay: '<S113>/UD'
5028 */
5029 if ((real32_T)dx_hand_model_B.RateTransition_bq >
5030 dx_hand_model_P.Switch_Threshold_j) {
5031 dx_hand_model_B.t4_o = dx_hand_model_B.LBD - dx_hand_model_DW.UD_DSTATE_l;
5032 } else {
5033 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_d;
5034 }
5035
5036 /* End of Switch: '<S117>/Switch' */
5037
5038 /* Sum: '<S83>/Sum2' incorporates:
5039 * DataTypeConversion: '<S119>/Data Type Conversion1'
5040 * DataTypeConversion: '<S121>/Data Type Conversion1'
5041 * Product: '<S119>/Product'
5042 * Product: '<S121>/Product'
5043 * Sum: '<S111>/Diff'
5044 * Sum: '<S83>/Sum'
5045 * Sum: '<S83>/Sum3'
5046 * UnitDelay: '<S111>/UD'
5047 */
5048 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -
5049 (dx_hand_model_B.xD - dx_hand_model_DW.UD_DSTATE_f)) * (real32_T)
5050 dx_hand_model_B.RateTransition_oh + (dx_hand_model_B.Sum_a -
5051 dx_hand_model_B.DataTypeConversion5_n) * (real32_T)
5052 dx_hand_model_B.RateTransition_gd;
5053
5054 /* Switch: '<S118>/Switch' incorporates:
5055 * Constant: '<S118>/Constant'
5056 * DataTypeConversion: '<S118>/Data Type Conversion1'
5057 * Sum: '<S114>/Diff'
5058 * UnitDelay: '<S114>/UD'
5059 */
5060 if ((real32_T)dx_hand_model_B.RateTransition_pa >
5061 dx_hand_model_P.Switch_Threshold_l4) {
5062 dx_hand_model_B.t4_o = dx_hand_model_B.LDF - dx_hand_model_DW.UD_DSTATE_f0;
5063 } else {
5064 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ez;
5065 }
5066
5067 /* End of Switch: '<S118>/Switch' */
5068
5069 /* Sum: '<S83>/Sum2' incorporates:
5070 * DataTypeConversion: '<S120>/Data Type Conversion1'
5071 * DataTypeConversion: '<S122>/Data Type Conversion1'
5072 * Product: '<S120>/Product'
5073 * Product: '<S122>/Product'
5074 * Sum: '<S112>/Diff'
5075 * Sum: '<S83>/Sum1'
5076 * Sum: '<S83>/Sum4'
5077 * UnitDelay: '<S112>/UD'
5078 */
5079 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -
5080 (dx_hand_model_B.xC - dx_hand_model_DW.UD_DSTATE_dy)) * (real32_T)
5081 dx_hand_model_B.RateTransition_m + (dx_hand_model_B.Saturation4_f -
5082 dx_hand_model_B.Product_k) * (real32_T)dx_hand_model_B.RateTransition_po;
5083
5084 /* MATLAB Function: '<S83>/Optimized_Static_Problem' */
5085 Optimized_Static_Problem_e(dx_hand_model_B.Switch_i,
5086 dx_hand_model_B.TmpSignalConversionAtSFun_c,
5087 &dx_hand_model_B.sf_Optimized_Static_Problem_b);
5088
5089 /* RateTransition: '<S116>/Rate Transition' */
5090 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5091 dx_hand_model_B.RateTransition_k2 =
5092 dx_hand_model_DW.RateTransition_Buffer0_lh;
5093 }
5094
5095 /* End of RateTransition: '<S116>/Rate Transition' */
5096
5097 /* MATLAB Function: '<S83>/Classic_Static_Problem' */
5098 dx_h_Classic_Static_Problem(dx_hand_model_B.Switch_i,
5099 dx_hand_model_B.TmpSignalConversionAtSFun_c,
5100 &dx_hand_model_B.sf_Classic_Static_Problem_a);
5101
5102 /* RateTransition: '<S79>/Rate Transition' incorporates:
5103 * RateTransition: '<S109>/Rate Transition'
5104 */
5105 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5106 dx_hand_model_B.RateTransition_d1 =
5107 dx_hand_model_DW.RateTransition_Buffer0_ex;
5108 dx_hand_model_B.RateTransition_mp =
5109 dx_hand_model_DW.RateTransition_Buffer0_bv;
5110 }
5111
5112 /* End of RateTransition: '<S79>/Rate Transition' */
5113
5114 /* ManualSwitch: '<S109>/Manual Switch' incorporates:
5115 * Constant: '<S109>/Constant'
5116 * DataTypeConversion: '<S109>/Data Type Conversion2'
5117 */
5118 if (dx_hand_model_P.ManualSwitch_CurrentSetting_f == 1) {
5119 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_mp;
5120 } else {
5121 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_hp;
5122 }
5123
5124 /* End of ManualSwitch: '<S109>/Manual Switch' */
5125
5126 /* DataTypeConversion: '<S109>/Data Type Conversion1' incorporates:
5127 * Gain: '<S106>/Gain'
5128 * Gain: '<S106>/Gain2'
5129 * Gain: '<S106>/Gain3'
5130 * Product: '<S109>/Product'
5131 */
5132 dx_hand_model_B.yH = (real32_T)(dx_hand_model_P.Gain_Gain_m *
5133 dx_hand_model_B.In1_e.Data[5] * dx_hand_model_P.Gain2_Gain *
5134 dx_hand_model_P.Gain3_Gain * dx_hand_model_B.t4_o);
5135
5136 /* RateTransition: '<S108>/Rate Transition' */
5137 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5138 dx_hand_model_B.RateTransition_k3 =
5139 dx_hand_model_DW.RateTransition_Buffer0_co;
5140 }
5141
5142 /* End of RateTransition: '<S108>/Rate Transition' */
5143
5144 /* ManualSwitch: '<S108>/Manual Switch' incorporates:
5145 * Constant: '<S108>/Constant'
5146 * DataTypeConversion: '<S108>/Data Type Conversion2'
5147 */
5148 if (dx_hand_model_P.ManualSwitch_CurrentSetting_mr == 1) {
5149 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_k3;
5150 } else {
5151 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_jt;
5152 }
5153
5154 /* End of ManualSwitch: '<S108>/Manual Switch' */
5155
5156 /* Product: '<S108>/Product' incorporates:
5157 * Gain: '<S106>/Gain1'
5158 * Gain: '<S106>/Gain4'
5159 * Gain: '<S106>/Gain5'
5160 */
5161 dx_hand_model_B.Switch = dx_hand_model_P.Gain1_Gain_a *
5162 dx_hand_model_B.In1_e.Data[4] * dx_hand_model_P.Gain4_Gain *
5163 dx_hand_model_P.Gain5_Gain * dx_hand_model_B.t4_o;
5164
5165 /* MATLAB Function: '<S82>/Optimized_Static_Problem' incorporates:
5166 * DataTypeConversion: '<S108>/Data Type Conversion1'
5167 */
5168 dx_Optimized_Static_Problem(dx_hand_model_B.Switch_i, dx_hand_model_B.yH,
5169 (real32_T)dx_hand_model_B.Switch,
5170 &dx_hand_model_B.sf_Optimized_Static_Problem_d);
5171
5172 /* RateTransition: '<S107>/Rate Transition' */
5173 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5174 dx_hand_model_B.RateTransition_fg =
5175 dx_hand_model_DW.RateTransition_Buffer0_py;
5176 }
5177
5178 /* End of RateTransition: '<S107>/Rate Transition' */
5179
5180 /* MATLAB Function: '<S82>/Classic_Static_Problem' incorporates:
5181 * DataTypeConversion: '<S108>/Data Type Conversion1'
5182 */
5183 dx_Classic_Static_Problem_d(dx_hand_model_B.Switch_i, dx_hand_model_B.yH,
5184 (real32_T)dx_hand_model_B.Switch,
5185 &dx_hand_model_B.sf_Classic_Static_Problem_d);
5186
5187 /* Switch: '<S79>/Switch' incorporates:
5188 * DataTypeConversion: '<S107>/Data Type Conversion1'
5189 * DataTypeConversion: '<S79>/Data Type Conversion1'
5190 * Switch: '<S107>/Switch'
5191 */
5192 if ((real32_T)dx_hand_model_B.RateTransition_d1 >
5193 dx_hand_model_P.Switch_Threshold_km) {
5194 /* Switch: '<S116>/Switch' incorporates:
5195 * DataTypeConversion: '<S116>/Data Type Conversion1'
5196 */
5197 if ((real32_T)dx_hand_model_B.RateTransition_k2 >
5198 dx_hand_model_P.Switch_Threshold_g) {
5199 dx_hand_model_B.yH = dx_hand_model_B.sf_Optimized_Static_Problem_b.y;
5200 } else {
5201 dx_hand_model_B.yH = dx_hand_model_B.sf_Classic_Static_Problem_a.rate;
5202 }
5203
5204 /* End of Switch: '<S116>/Switch' */
5205 } else if ((real32_T)dx_hand_model_B.RateTransition_fg >
5206 dx_hand_model_P.Switch_Threshold_b1) {
5207 /* Switch: '<S107>/Switch' */
5208 dx_hand_model_B.yH = dx_hand_model_B.sf_Optimized_Static_Problem_d.y;
5209 } else {
5210 dx_hand_model_B.yH = dx_hand_model_B.sf_Classic_Static_Problem_d.y;
5211 }
5212
5213 /* End of Switch: '<S79>/Switch' */
5214
5215 /* RateTransition: '<S89>/Rate Transition' */
5216 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5217 dx_hand_model_B.RateTransition_ps =
5218 dx_hand_model_DW.RateTransition_Buffer0_gb;
5219 }
5220
5221 /* End of RateTransition: '<S89>/Rate Transition' */
5222
5223 /* Switch: '<S78>/Switch' incorporates:
5224 * Constant: '<S78>/Constant'
5225 * DataTypeConversion: '<S78>/Data Type Conversion1'
5226 */
5227 if ((real32_T)dx_hand_model_B.RateTransition_pi >
5228 dx_hand_model_P.Switch_Threshold_h) {
5229 /* Switch: '<S89>/Switch' incorporates:
5230 * DataTypeConversion: '<S89>/Data Type Conversion1'
5231 * Saturate: '<S89>/Saturation2'
5232 */
5233 if ((real32_T)dx_hand_model_B.RateTransition_ps >
5234 dx_hand_model_P.Switch_Threshold_bv) {
5235 /* Saturate: '<S89>/Saturation1' */
5236 if (dx_hand_model_B.yH > dx_hand_model_P.max_force) {
5237 dx_hand_model_B.yH = dx_hand_model_P.max_force;
5238 } else {
5239 if (dx_hand_model_B.yH < dx_hand_model_P.Saturation1_LowerSat_b) {
5240 dx_hand_model_B.yH = dx_hand_model_P.Saturation1_LowerSat_b;
5241 }
5242 }
5243
5244 /* End of Saturate: '<S89>/Saturation1' */
5245 } else if (dx_hand_model_B.yH > dx_hand_model_P.Saturation2_UpperSat_i) {
5246 /* Saturate: '<S89>/Saturation2' */
5247 dx_hand_model_B.yH = dx_hand_model_P.Saturation2_UpperSat_i;
5248 } else {
5249 if (dx_hand_model_B.yH < dx_hand_model_P.Saturation2_LowerSat_m) {
5250 /* Saturate: '<S89>/Saturation2' */
5251 dx_hand_model_B.yH = dx_hand_model_P.Saturation2_LowerSat_m;
5252 }
5253 }
5254
5255 /* End of Switch: '<S89>/Switch' */
5256 } else {
5257 dx_hand_model_B.yH = dx_hand_model_P.Constant_Value_ev;
5258 }
5259
5260 /* End of Switch: '<S78>/Switch' */
5261
5262 /* ManualSwitch: '<S81>/Manual Switch' incorporates:
5263 * Constant: '<S81>/Constant'
5264 * Constant: '<S81>/Constant3'
5265 */
5266 if (dx_hand_model_P.ManualSwitch_CurrentSetting_g == 1) {
5267 dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_j;
5268 } else {
5269 dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_l;
5270 }
5271
5272 /* End of ManualSwitch: '<S81>/Manual Switch' */
5273
5274 /* Outputs for Enabled SubSystem: '<S81>/Record' incorporates:
5275 * EnablePort: '<S98>/Enable'
5276 */
5277 if (dx_hand_model_B.t4 > 0.0) {
5278 /* SignalConversion: '<S98>/TmpSignal ConversionAtTo WorkspaceInport1' */
5279 dx_hand_model_B.TmpSignalConversionAtToW_of[0] = dx_hand_model_B.xH;
5280 dx_hand_model_B.TmpSignalConversionAtToW_of[1] = dx_hand_model_B.yI;
5281 memcpy(&dx_hand_model_B.TmpSignalConversionAtToW_of[2],
5282 &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));
5283 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {
5284 dx_hand_model_B.TmpSignalConversionAtToW_of[dx_hand_model_B.i + 20] =
5285 dx_hand_model_B.sf_MiddleDirectKinematics.y[dx_hand_model_B.i];
5286 }
5287
5288 /* End of SignalConversion: '<S98>/TmpSignal ConversionAtTo WorkspaceInport1' */
5289 }
5290
5291 /* End of Outputs for SubSystem: '<S81>/Record' */
5292
5293 /* Start for MATLABSystem: '<S92>/Set Parameter' incorporates:
5294 * DataTypeConversion: '<S92>/Data Type Conversion2'
5295 */
5296 ParamSet_dx_hand_model_2567.set_parameter((real_T)dx_hand_model_B.Delay_m[14]);
5297
5298 /* RateTransition: '<S124>/Rate Transition' */
5299 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5300 dx_hand_model_B.RateTransition_a3 =
5301 dx_hand_model_DW.RateTransition_Buffer0_iv;
5302 }
5303
5304 /* End of RateTransition: '<S124>/Rate Transition' */
5305
5306 /* DiscreteTransferFcn: '<S131>/Filt 4' */
5307 dx_hand_model_B.k = 0;
5308 while (dx_hand_model_B.k < 4) {
5309 dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef_a[1] *
5310 dx_hand_model_DW.Filt4_states_k[dx_hand_model_B.k];
5311 dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;
5312 dx_hand_model_B.k++;
5313 }
5314
5315 /* RateTransition: '<S131>/Rate Transition' */
5316 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5317 dx_hand_model_B.RateTransition_k3g =
5318 dx_hand_model_DW.RateTransition_Buffer0_be;
5319 }
5320
5321 /* End of RateTransition: '<S131>/Rate Transition' */
5322
5323 /* Gain: '<S140>/Gain Aggiustato' */
5324 dx_hand_model_B.Saturation2_k = dx_hand_model_P.GainAggiustato_Gain_nl *
5325 dx_hand_model_B.Delay_m[11];
5326
5327 /* Saturate: '<S128>/Saturation2' */
5328 if (dx_hand_model_B.Saturation2_k > dx_hand_model_P.Saturation2_UpperSat_i4) {
5329 dx_hand_model_B.Saturation2_k = dx_hand_model_P.Saturation2_UpperSat_i4;
5330 } else {
5331 if (dx_hand_model_B.Saturation2_k < dx_hand_model_P.Saturation2_LowerSat_ky)
5332 {
5333 dx_hand_model_B.Saturation2_k = dx_hand_model_P.Saturation2_LowerSat_ky;
5334 }
5335 }
5336
5337 /* End of Saturate: '<S128>/Saturation2' */
5338
5339 /* RateTransition: '<S139>/Rate Transition' */
5340 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5341 dx_hand_model_B.RateTransition_dn =
5342 dx_hand_model_DW.RateTransition_Buffer0_bz;
5343 }
5344
5345 /* End of RateTransition: '<S139>/Rate Transition' */
5346
5347 /* ManualSwitch: '<S139>/Manual Switch' incorporates:
5348 * Constant: '<S139>/Constant1'
5349 * DataTypeConversion: '<S139>/Data Type Conversion1'
5350 */
5351 if (dx_hand_model_P.ManualSwitch_CurrentSetting_oo == 1) {
5352 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_dn;
5353 } else {
5354 dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_j;
5355 }
5356
5357 /* End of ManualSwitch: '<S139>/Manual Switch' */
5358
5359 /* Sum: '<S139>/Sum1' incorporates:
5360 * Constant: '<S139>/Constant'
5361 * Gain: '<S139>/Gain Aggiustato'
5362 * Sum: '<S139>/Sum2'
5363 */
5364 dx_hand_model_B.Sum_a = dx_hand_model_P.Constant_Value_ov -
5365 (dx_hand_model_B.Delay_m[15] - dx_hand_model_B.t4_o) *
5366 dx_hand_model_P.GainAggiustato_Gain_jt;
5367
5368 /* Saturate: '<S128>/Saturation3' */
5369 if (dx_hand_model_B.Sum_a > dx_hand_model_P.Saturation3_UpperSat_a) {
5370 dx_hand_model_B.Saturation3_o = dx_hand_model_P.Saturation3_UpperSat_a;
5371 } else if (dx_hand_model_B.Sum_a < dx_hand_model_P.Saturation3_LowerSat_h) {
5372 dx_hand_model_B.Saturation3_o = dx_hand_model_P.Saturation3_LowerSat_h;
5373 } else {
5374 dx_hand_model_B.Saturation3_o = dx_hand_model_B.Sum_a;
5375 }
5376
5377 /* End of Saturate: '<S128>/Saturation3' */
5378
5379 /* RateTransition: '<S128>/Rate Transition' */
5380 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5381 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {
5382 dx_hand_model_B.RateTransition_dw[dx_hand_model_B.i] =
5383 dx_hand_model_DW.RateTransition_Buffer0_k3[dx_hand_model_B.i];
5384 }
5385 }
5386
5387 /* End of RateTransition: '<S128>/Rate Transition' */
5388
5389 /* MATLAB Function: '<S143>/Pinky Parameters' */
5390 dx_hand_model_B.y_d[0] = dx_hand_model_B.RateTransition_dw[0];
5391 dx_hand_model_B.y_d[1] = dx_hand_model_B.RateTransition_dw[1];
5392 dx_hand_model_B.y_d[2] = dx_hand_model_B.RateTransition_dw[2];
5393 dx_hand_model_B.y_d[3] = dx_hand_model_B.RateTransition_dw[3];
5394 dx_hand_model_B.y_d[4] = 18.0;
5395 dx_hand_model_B.y_d[5] = 43.0;
5396 dx_hand_model_B.y_d[6] = 9.0;
5397 dx_hand_model_B.y_d[7] = 32.0;
5398 dx_hand_model_B.y_d[8] = 23.0;
5399 dx_hand_model_B.y_d[9] = 37.0;
5400 dx_hand_model_B.y_d[10] = 86.0;
5401 dx_hand_model_B.y_d[11] = 46.0;
5402 dx_hand_model_B.y_d[12] = 42.0;
5403 dx_hand_model_B.y_d[13] = 16.0;
5404 dx_hand_model_B.y_d[14] = 35.0;
5405 dx_hand_model_B.y_d[15] = 27.0;
5406 dx_hand_model_B.y_d[16] = 126.0;
5407 dx_hand_model_B.y_d[17] = 98.0;
5408
5409 /* DataTypeConversion: '<S143>/Data Type Conversion1' */
5410 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {
5411 dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)
5412 dx_hand_model_B.y_d[dx_hand_model_B.i];
5413 }
5414
5415 /* End of DataTypeConversion: '<S143>/Data Type Conversion1' */
5416
5417 /* MATLAB Function: '<S128>/Pinky Direct Kinematics' */
5418 dx_h_MiddleDirectKinematics(dx_hand_model_B.Saturation2_k,
5419 dx_hand_model_B.Saturation3_o, dx_hand_model_B.DataTypeConversion1_d,
5420 &dx_hand_model_B.sf_PinkyDirectKinematics);
5421
5422 /* MATLAB Function: '<S127>/Pinky Jacobian ' */
5423 dx_hand_mo_MiddleJacobian_g(dx_hand_model_B.sf_PinkyDirectKinematics.y,
5424 dx_hand_model_B.Saturation3_o, dx_hand_model_B.DataTypeConversion1_d,
5425 &dx_hand_model_B.sf_PinkyJacobian);
5426
5427 /* UnitDelay: '<S127>/Unit Delay3' */
5428 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] =
5429 dx_hand_model_DW.UnitDelay3_DSTATE_kr[0];
5430 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =
5431 dx_hand_model_DW.UnitDelay3_DSTATE_kr[1];
5432
5433 /* MATLAB Function: '<S127>/Pinky Jacobian' incorporates:
5434 * UnitDelay: '<S127>/Unit Delay1'
5435 */
5436 dx_hand_mode_MiddleJacobian(dx_hand_model_B.sf_PinkyDirectKinematics.y,
5437 dx_hand_model_B.Saturation2_k, dx_hand_model_B.Saturation3_o,
5438 dx_hand_model_B.DataTypeConversion1_d,
5439 dx_hand_model_B.TmpSignalConversionAtSFun_c,
5440 dx_hand_model_DW.UnitDelay1_DSTATE_g, &dx_hand_model_B.sf_PinkyJacobian_f);
5441
5442 /* ManualSwitch: '<S127>/Manual Switch' */
5443 if (dx_hand_model_P.ManualSwitch_CurrentSetting_mb == 1) {
5444 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[0];
5445 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[1];
5446 } else {
5447 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[0];
5448 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[1];
5449 }
5450
5451 /* Memory: '<S131>/Memory' */
5452 dx_hand_model_B.Memory_d[0] = dx_hand_model_DW.Memory_PreviousInput_kw[0];
5453 dx_hand_model_B.Memory_d[1] = dx_hand_model_DW.Memory_PreviousInput_kw[1];
5454
5455 /* ManualSwitch: '<S127>/Manual Switch' */
5456 if (dx_hand_model_P.ManualSwitch_CurrentSetting_mb == 1) {
5457 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[2];
5458 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[3];
5459 } else {
5460 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[2];
5461 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[3];
5462 }
5463
5464 /* Memory: '<S131>/Memory' */
5465 dx_hand_model_B.Memory_d[2] = dx_hand_model_DW.Memory_PreviousInput_kw[2];
5466 dx_hand_model_B.Memory_d[3] = dx_hand_model_DW.Memory_PreviousInput_kw[3];
5467
5468 /* MATLAB Function: '<S131>/IsNan ' */
5469 dx_hand_model_IsNan(dx_hand_model_B.Switch_i, dx_hand_model_B.Memory_d,
5470 &dx_hand_model_B.sf_IsNan_i);
5471
5472 /* Switch: '<S131>/Switch' incorporates:
5473 * DataTypeConversion: '<S131>/Data Type Conversion1'
5474 */
5475 if ((real32_T)dx_hand_model_B.RateTransition_k3g >
5476 dx_hand_model_P.Switch_Threshold_cm) {
5477 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.Filt4_c[0];
5478 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.Filt4_c[1];
5479 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.Filt4_c[2];
5480 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.Filt4_c[3];
5481 } else {
5482 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_IsNan_i.J[0];
5483 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_IsNan_i.J[1];
5484 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_IsNan_i.J[2];
5485 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_IsNan_i.J[3];
5486 }
5487
5488 /* End of Switch: '<S131>/Switch' */
5489
5490 /* RateTransition: '<S164>/Rate Transition' */
5491 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5492 dx_hand_model_B.RateTransition_p4 =
5493 dx_hand_model_DW.RateTransition_Buffer0_gk;
5494 }
5495
5496 /* End of RateTransition: '<S164>/Rate Transition' */
5497
5498 /* DiscreteTransferFcn: '<S30>/Filt 4' */
5499 dx_hand_model_B.k = 0;
5500 while (dx_hand_model_B.k < 1) {
5501 dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_o[1] *
5502 dx_hand_model_DW.Filt4_states_i;
5503 dx_hand_model_B.k++;
5504 }
5505
5506 /* Switch: '<S30>/Switch' incorporates:
5507 * DataTypeConversion: '<S24>/Data Type Conversion1'
5508 */
5509 if (!((real32_T)dx_hand_model_B.RateTransition_gt >
5510 dx_hand_model_P.Switch_Threshold_ea)) {
5511 dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[7];
5512 }
5513
5514 /* End of Switch: '<S30>/Switch' */
5515
5516 /* RateTransition: '<S134>/Rate Transition' */
5517 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5518 dx_hand_model_B.RateTransition_ng =
5519 dx_hand_model_DW.RateTransition_Buffer0_o;
5520 }
5521
5522 /* End of RateTransition: '<S134>/Rate Transition' */
5523
5524 /* Product: '<S134>/Product' incorporates:
5525 * DataTypeConversion: '<S134>/Data Type Conversion1'
5526 */
5527 dx_hand_model_B.LDG = (real32_T)dx_hand_model_B.RateTransition_ng *
5528 dx_hand_model_B.sf_PinkyDirectKinematics.y[0];
5529
5530 /* Saturate: '<S130>/Saturation3' */
5531 if (dx_hand_model_B.LDG > dx_hand_model_P.Saturation3_UpperSat_dr) {
5532 dx_hand_model_B.DataTypeConversion5_n =
5533 dx_hand_model_P.Saturation3_UpperSat_dr;
5534 } else if (dx_hand_model_B.LDG < dx_hand_model_P.Saturation3_LowerSat_o) {
5535 dx_hand_model_B.DataTypeConversion5_n =
5536 dx_hand_model_P.Saturation3_LowerSat_o;
5537 } else {
5538 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.LDG;
5539 }
5540
5541 /* End of Saturate: '<S130>/Saturation3' */
5542
5543 /* RateTransition: '<S165>/Rate Transition' incorporates:
5544 * RateTransition: '<S135>/Rate Transition'
5545 */
5546 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5547 dx_hand_model_B.RateTransition_ld =
5548 dx_hand_model_DW.RateTransition_Buffer0_ml;
5549 dx_hand_model_B.RateTransition_km =
5550 dx_hand_model_DW.RateTransition_Buffer0_hy;
5551 }
5552
5553 /* End of RateTransition: '<S165>/Rate Transition' */
5554
5555 /* Gain: '<S130>/Gain' */
5556 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Gain_Gain_i *
5557 dx_hand_model_B.Sum_a;
5558
5559 /* Product: '<S135>/Product' incorporates:
5560 * DataTypeConversion: '<S135>/Data Type Conversion1'
5561 */
5562 dx_hand_model_B.Product_k = (real32_T)dx_hand_model_B.RateTransition_km *
5563 dx_hand_model_B.sf_PinkyDirectKinematics.y[1];
5564
5565 /* Saturate: '<S130>/Saturation4' */
5566 if (dx_hand_model_B.Product_k > dx_hand_model_P.Saturation4_UpperSat_b) {
5567 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_UpperSat_b;
5568 } else {
5569 if (dx_hand_model_B.Product_k < dx_hand_model_P.Saturation4_LowerSat_f) {
5570 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_LowerSat_f;
5571 }
5572 }
5573
5574 /* End of Saturate: '<S130>/Saturation4' */
5575
5576 /* RateTransition: '<S166>/Rate Transition' incorporates:
5577 * RateTransition: '<S162>/Rate Transition'
5578 */
5579 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5580 dx_hand_model_B.RateTransition_ky =
5581 dx_hand_model_DW.RateTransition_Buffer0_bh;
5582 dx_hand_model_B.RateTransition_e =
5583 dx_hand_model_DW.RateTransition_Buffer0_kj;
5584 }
5585
5586 /* End of RateTransition: '<S166>/Rate Transition' */
5587
5588 /* SampleTimeMath: '<S158>/TSamp'
5589 *
5590 * About '<S158>/TSamp':
5591 * y = u * K where K = 1 / ( w * Ts )
5592 */
5593 dx_hand_model_B.yI = dx_hand_model_B.Sum_a * dx_hand_model_P.TSamp_WtEt_dk;
5594
5595 /* SampleTimeMath: '<S156>/TSamp'
5596 *
5597 * About '<S156>/TSamp':
5598 * y = u * K where K = 1 / ( w * Ts )
5599 */
5600 dx_hand_model_B.LLI = dx_hand_model_B.DataTypeConversion5_n *
5601 dx_hand_model_P.TSamp_WtEt_lr;
5602
5603 /* RateTransition: '<S167>/Rate Transition' incorporates:
5604 * RateTransition: '<S163>/Rate Transition'
5605 */
5606 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5607 dx_hand_model_B.RateTransition_ks =
5608 dx_hand_model_DW.RateTransition_Buffer0_bl;
5609 dx_hand_model_B.RateTransition_pgy =
5610 dx_hand_model_DW.RateTransition_Buffer0_hj;
5611 }
5612
5613 /* End of RateTransition: '<S167>/Rate Transition' */
5614
5615 /* SampleTimeMath: '<S159>/TSamp'
5616 *
5617 * About '<S159>/TSamp':
5618 * y = u * K where K = 1 / ( w * Ts )
5619 */
5620 dx_hand_model_B.temp = dx_hand_model_B.Saturation4_f *
5621 dx_hand_model_P.TSamp_WtEt_bc;
5622
5623 /* SampleTimeMath: '<S157>/TSamp'
5624 *
5625 * About '<S157>/TSamp':
5626 * y = u * K where K = 1 / ( w * Ts )
5627 */
5628 dx_hand_model_B.xD1 = dx_hand_model_B.Product_k * dx_hand_model_P.TSamp_WtEt_f;
5629
5630 /* Switch: '<S162>/Switch' incorporates:
5631 * Constant: '<S162>/Constant'
5632 * DataTypeConversion: '<S162>/Data Type Conversion1'
5633 * Sum: '<S158>/Diff'
5634 * UnitDelay: '<S158>/UD'
5635 */
5636 if ((real32_T)dx_hand_model_B.RateTransition_e >
5637 dx_hand_model_P.Switch_Threshold_ha) {
5638 dx_hand_model_B.t4_o = dx_hand_model_B.yI - dx_hand_model_DW.UD_DSTATE_c;
5639 } else {
5640 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ll;
5641 }
5642
5643 /* End of Switch: '<S162>/Switch' */
5644
5645 /* Sum: '<S130>/Sum2' incorporates:
5646 * DataTypeConversion: '<S164>/Data Type Conversion1'
5647 * DataTypeConversion: '<S166>/Data Type Conversion1'
5648 * Product: '<S164>/Product'
5649 * Product: '<S166>/Product'
5650 * Sum: '<S130>/Sum'
5651 * Sum: '<S130>/Sum3'
5652 * Sum: '<S156>/Diff'
5653 * UnitDelay: '<S156>/UD'
5654 */
5655 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -
5656 (dx_hand_model_B.LLI - dx_hand_model_DW.UD_DSTATE_ld)) * (real32_T)
5657 dx_hand_model_B.RateTransition_ky + (dx_hand_model_B.Sum_a -
5658 dx_hand_model_B.DataTypeConversion5_n) * (real32_T)
5659 dx_hand_model_B.RateTransition_p4;
5660
5661 /* Switch: '<S163>/Switch' incorporates:
5662 * Constant: '<S163>/Constant'
5663 * DataTypeConversion: '<S163>/Data Type Conversion1'
5664 * Sum: '<S159>/Diff'
5665 * UnitDelay: '<S159>/UD'
5666 */
5667 if ((real32_T)dx_hand_model_B.RateTransition_pgy >
5668 dx_hand_model_P.Switch_Threshold_p) {
5669 dx_hand_model_B.t4_o = dx_hand_model_B.temp - dx_hand_model_DW.UD_DSTATE_i;
5670 } else {
5671 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ln;
5672 }
5673
5674 /* End of Switch: '<S163>/Switch' */
5675
5676 /* Sum: '<S130>/Sum2' incorporates:
5677 * DataTypeConversion: '<S165>/Data Type Conversion1'
5678 * DataTypeConversion: '<S167>/Data Type Conversion1'
5679 * Product: '<S165>/Product'
5680 * Product: '<S167>/Product'
5681 * Sum: '<S130>/Sum1'
5682 * Sum: '<S130>/Sum4'
5683 * Sum: '<S157>/Diff'
5684 * UnitDelay: '<S157>/UD'
5685 */
5686 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -
5687 (dx_hand_model_B.xD1 - dx_hand_model_DW.UD_DSTATE_a)) * (real32_T)
5688 dx_hand_model_B.RateTransition_ks + (dx_hand_model_B.Saturation4_f -
5689 dx_hand_model_B.Product_k) * (real32_T)dx_hand_model_B.RateTransition_ld;
5690
5691 /* MATLAB Function: '<S130>/Optimized_Static_Problem' */
5692 Optimized_Static_Problem_e(dx_hand_model_B.Switch_i,
5693 dx_hand_model_B.TmpSignalConversionAtSFun_c,
5694 &dx_hand_model_B.sf_Optimized_Static_Problem_c);
5695
5696 /* RateTransition: '<S161>/Rate Transition' */
5697 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5698 dx_hand_model_B.RateTransition_o0 =
5699 dx_hand_model_DW.RateTransition_Buffer0_pe;
5700 }
5701
5702 /* End of RateTransition: '<S161>/Rate Transition' */
5703
5704 /* MATLAB Function: '<S130>/Classic_Static_Problem' */
5705 dx_h_Classic_Static_Problem(dx_hand_model_B.Switch_i,
5706 dx_hand_model_B.TmpSignalConversionAtSFun_c,
5707 &dx_hand_model_B.sf_Classic_Static_Problem_p);
5708
5709 /* RateTransition: '<S126>/Rate Transition' incorporates:
5710 * RateTransition: '<S154>/Rate Transition'
5711 */
5712 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5713 dx_hand_model_B.RateTransition_bs =
5714 dx_hand_model_DW.RateTransition_Buffer0_li;
5715 dx_hand_model_B.RateTransition_a2 =
5716 dx_hand_model_DW.RateTransition_Buffer0_e0;
5717 }
5718
5719 /* End of RateTransition: '<S126>/Rate Transition' */
5720
5721 /* Gain: '<S151>/Gain2' incorporates:
5722 * Gain: '<S151>/Gain1'
5723 * Gain: '<S151>/Gain3'
5724 */
5725 dx_hand_model_B.ManualSwitch2 = dx_hand_model_P.Gain1_Gain_h *
5726 dx_hand_model_B.In1_e.Data[7] * dx_hand_model_P.Gain3_Gain_g *
5727 dx_hand_model_P.Gain2_Gain_l;
5728
5729 /* ManualSwitch: '<S154>/Manual Switch' incorporates:
5730 * Constant: '<S154>/Constant'
5731 * DataTypeConversion: '<S154>/Data Type Conversion2'
5732 */
5733 if (dx_hand_model_P.ManualSwitch_CurrentSetting_ni == 1) {
5734 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_a2;
5735 } else {
5736 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_j1;
5737 }
5738
5739 /* End of ManualSwitch: '<S154>/Manual Switch' */
5740
5741 /* DataTypeConversion: '<S154>/Data Type Conversion1' incorporates:
5742 * Product: '<S154>/Product'
5743 */
5744 dx_hand_model_B.Product_k = (real32_T)(dx_hand_model_B.t4_o *
5745 dx_hand_model_B.ManualSwitch2);
5746
5747 /* RateTransition: '<S153>/Rate Transition' */
5748 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5749 dx_hand_model_B.RateTransition_pb =
5750 dx_hand_model_DW.RateTransition_Buffer0_h3;
5751 }
5752
5753 /* End of RateTransition: '<S153>/Rate Transition' */
5754
5755 /* ManualSwitch: '<S153>/Manual Switch' incorporates:
5756 * Constant: '<S153>/Constant'
5757 * DataTypeConversion: '<S153>/Data Type Conversion2'
5758 */
5759 if (dx_hand_model_P.ManualSwitch_CurrentSetting_k == 1) {
5760 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_pb;
5761 } else {
5762 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_dk;
5763 }
5764
5765 /* End of ManualSwitch: '<S153>/Manual Switch' */
5766
5767 /* Product: '<S153>/Product' */
5768 dx_hand_model_B.Switch = dx_hand_model_B.t4_o * dx_hand_model_B.ManualSwitch2;
5769
5770 /* MATLAB Function: '<S129>/Optimized_Static_Problem' incorporates:
5771 * DataTypeConversion: '<S153>/Data Type Conversion1'
5772 */
5773 dx_Optimized_Static_Problem(dx_hand_model_B.Switch_i,
5774 dx_hand_model_B.Product_k, (real32_T)dx_hand_model_B.Switch,
5775 &dx_hand_model_B.sf_Optimized_Static_Problem_o);
5776
5777 /* RateTransition: '<S152>/Rate Transition' */
5778 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5779 dx_hand_model_B.RateTransition_lt =
5780 dx_hand_model_DW.RateTransition_Buffer0_kr;
5781 }
5782
5783 /* End of RateTransition: '<S152>/Rate Transition' */
5784
5785 /* MATLAB Function: '<S129>/Classic_Static_Problem' incorporates:
5786 * DataTypeConversion: '<S153>/Data Type Conversion1'
5787 */
5788 dx_Classic_Static_Problem_d(dx_hand_model_B.Switch_i,
5789 dx_hand_model_B.Product_k, (real32_T)dx_hand_model_B.Switch,
5790 &dx_hand_model_B.sf_Classic_Static_Problem_m);
5791
5792 /* Switch: '<S126>/Switch' incorporates:
5793 * DataTypeConversion: '<S126>/Data Type Conversion1'
5794 * DataTypeConversion: '<S152>/Data Type Conversion1'
5795 * Switch: '<S152>/Switch'
5796 */
5797 if ((real32_T)dx_hand_model_B.RateTransition_bs >
5798 dx_hand_model_P.Switch_Threshold_nt) {
5799 /* Switch: '<S161>/Switch' incorporates:
5800 * DataTypeConversion: '<S161>/Data Type Conversion1'
5801 */
5802 if ((real32_T)dx_hand_model_B.RateTransition_o0 >
5803 dx_hand_model_P.Switch_Threshold_nl) {
5804 dx_hand_model_B.Product_k =
5805 dx_hand_model_B.sf_Optimized_Static_Problem_c.y;
5806 } else {
5807 dx_hand_model_B.Product_k =
5808 dx_hand_model_B.sf_Classic_Static_Problem_p.rate;
5809 }
5810
5811 /* End of Switch: '<S161>/Switch' */
5812 } else if ((real32_T)dx_hand_model_B.RateTransition_lt >
5813 dx_hand_model_P.Switch_Threshold_l) {
5814 /* Switch: '<S152>/Switch' */
5815 dx_hand_model_B.Product_k = dx_hand_model_B.sf_Optimized_Static_Problem_o.y;
5816 } else {
5817 dx_hand_model_B.Product_k = dx_hand_model_B.sf_Classic_Static_Problem_m.y;
5818 }
5819
5820 /* End of Switch: '<S126>/Switch' */
5821
5822 /* RateTransition: '<S136>/Rate Transition' incorporates:
5823 * RateTransition: '<S125>/Rate Transition'
5824 */
5825 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5826 dx_hand_model_B.RateTransition_k4 =
5827 dx_hand_model_DW.RateTransition_Buffer0_mx;
5828 dx_hand_model_B.RateTransition_em =
5829 dx_hand_model_DW.RateTransition_Buffer0_eg;
5830 }
5831
5832 /* End of RateTransition: '<S136>/Rate Transition' */
5833
5834 /* Switch: '<S124>/Switch' incorporates:
5835 * Constant: '<S124>/Constant'
5836 * DataTypeConversion: '<S124>/Data Type Conversion1'
5837 */
5838 if ((real32_T)dx_hand_model_B.RateTransition_a3 >
5839 dx_hand_model_P.Switch_Threshold_gl) {
5840 /* Switch: '<S136>/Switch' incorporates:
5841 * DataTypeConversion: '<S136>/Data Type Conversion1'
5842 * Saturate: '<S136>/Saturation2'
5843 */
5844 if ((real32_T)dx_hand_model_B.RateTransition_k4 >
5845 dx_hand_model_P.Switch_Threshold_nb) {
5846 /* Saturate: '<S136>/Saturation1' */
5847 if (dx_hand_model_B.Product_k > dx_hand_model_P.max_force) {
5848 dx_hand_model_B.Product_k = dx_hand_model_P.max_force;
5849 } else {
5850 if (dx_hand_model_B.Product_k < dx_hand_model_P.Saturation1_LowerSat_d)
5851 {
5852 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation1_LowerSat_d;
5853 }
5854 }
5855
5856 /* End of Saturate: '<S136>/Saturation1' */
5857 } else if (dx_hand_model_B.Product_k >
5858 dx_hand_model_P.Saturation2_UpperSat_iq) {
5859 /* Saturate: '<S136>/Saturation2' */
5860 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation2_UpperSat_iq;
5861 } else {
5862 if (dx_hand_model_B.Product_k < dx_hand_model_P.Saturation2_LowerSat_mn) {
5863 /* Saturate: '<S136>/Saturation2' */
5864 dx_hand_model_B.Product_k = dx_hand_model_P.Saturation2_LowerSat_mn;
5865 }
5866 }
5867
5868 /* End of Switch: '<S136>/Switch' */
5869 } else {
5870 dx_hand_model_B.Product_k = dx_hand_model_P.Constant_Value_l;
5871 }
5872
5873 /* End of Switch: '<S124>/Switch' */
5874
5875 /* ManualSwitch: '<S128>/Manual Switch' incorporates:
5876 * Constant: '<S128>/Constant'
5877 * Constant: '<S128>/Constant3'
5878 */
5879 if (dx_hand_model_P.ManualSwitch_CurrentSetting_gu == 1) {
5880 dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_gf;
5881 } else {
5882 dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_d;
5883 }
5884
5885 /* End of ManualSwitch: '<S128>/Manual Switch' */
5886
5887 /* Outputs for Enabled SubSystem: '<S128>/Record' incorporates:
5888 * EnablePort: '<S144>/Enable'
5889 */
5890 if (dx_hand_model_B.t4 > 0.0) {
5891 /* SignalConversion: '<S144>/TmpSignal ConversionAtTo WorkspaceInport1' */
5892 dx_hand_model_B.TmpSignalConversionAtToWo_o[0] =
5893 dx_hand_model_B.Saturation2_k;
5894 dx_hand_model_B.TmpSignalConversionAtToWo_o[1] =
5895 dx_hand_model_B.Saturation3_o;
5896 memcpy(&dx_hand_model_B.TmpSignalConversionAtToWo_o[2],
5897 &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));
5898 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {
5899 dx_hand_model_B.TmpSignalConversionAtToWo_o[dx_hand_model_B.i + 20] =
5900 dx_hand_model_B.sf_PinkyDirectKinematics.y[dx_hand_model_B.i];
5901 }
5902
5903 /* End of SignalConversion: '<S144>/TmpSignal ConversionAtTo WorkspaceInport1' */
5904 }
5905
5906 /* End of Outputs for SubSystem: '<S128>/Record' */
5907
5908 /* Start for MATLABSystem: '<S139>/Set Parameter' incorporates:
5909 * DataTypeConversion: '<S139>/Data Type Conversion2'
5910 */
5911 ParamSet_dx_hand_model_4620.set_parameter((real_T)dx_hand_model_B.Delay_m[15]);
5912
5913 /* RateTransition: '<S169>/Rate Transition' */
5914 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5915 dx_hand_model_B.RateTransition_fh =
5916 dx_hand_model_DW.RateTransition_Buffer0_nv;
5917 }
5918
5919 /* End of RateTransition: '<S169>/Rate Transition' */
5920
5921 /* DiscreteTransferFcn: '<S176>/Filt 4' */
5922 dx_hand_model_B.k = 0;
5923 while (dx_hand_model_B.k < 4) {
5924 dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef_go[1] *
5925 dx_hand_model_DW.Filt4_states_p3[dx_hand_model_B.k];
5926 dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;
5927 dx_hand_model_B.k++;
5928 }
5929
5930 /* RateTransition: '<S176>/Rate Transition' */
5931 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5932 dx_hand_model_B.RateTransition_nv =
5933 dx_hand_model_DW.RateTransition_Buffer0_ad;
5934 }
5935
5936 /* End of RateTransition: '<S176>/Rate Transition' */
5937
5938 /* Gain: '<S185>/Gain Aggiustato' */
5939 dx_hand_model_B.Saturation2_e = dx_hand_model_P.GainAggiustato_Gain_cm *
5940 dx_hand_model_B.Delay_m[10];
5941
5942 /* Saturate: '<S173>/Saturation2' */
5943 if (dx_hand_model_B.Saturation2_e > dx_hand_model_P.Saturation2_UpperSat_i0) {
5944 dx_hand_model_B.Saturation2_e = dx_hand_model_P.Saturation2_UpperSat_i0;
5945 } else {
5946 if (dx_hand_model_B.Saturation2_e < dx_hand_model_P.Saturation2_LowerSat_i)
5947 {
5948 dx_hand_model_B.Saturation2_e = dx_hand_model_P.Saturation2_LowerSat_i;
5949 }
5950 }
5951
5952 /* End of Saturate: '<S173>/Saturation2' */
5953
5954 /* RateTransition: '<S184>/Rate Transition' */
5955 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5956 dx_hand_model_B.RateTransition_op =
5957 dx_hand_model_DW.RateTransition_Buffer0_or;
5958 }
5959
5960 /* End of RateTransition: '<S184>/Rate Transition' */
5961
5962 /* ManualSwitch: '<S184>/Manual Switch' incorporates:
5963 * Constant: '<S184>/Constant1'
5964 * DataTypeConversion: '<S184>/Data Type Conversion1'
5965 */
5966 if (dx_hand_model_P.ManualSwitch_CurrentSetting_db == 1) {
5967 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_op;
5968 } else {
5969 dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_g;
5970 }
5971
5972 /* End of ManualSwitch: '<S184>/Manual Switch' */
5973
5974 /* Sum: '<S184>/Sum1' incorporates:
5975 * Constant: '<S184>/Constant'
5976 * Gain: '<S184>/Gain Aggiustato'
5977 * Sum: '<S184>/Sum2'
5978 */
5979 dx_hand_model_B.Sum_a = dx_hand_model_P.Constant_Value_pw -
5980 (dx_hand_model_B.Delay_m[16] - dx_hand_model_B.t4_o) *
5981 dx_hand_model_P.GainAggiustato_Gain_ju;
5982
5983 /* Saturate: '<S173>/Saturation3' */
5984 if (dx_hand_model_B.Sum_a > dx_hand_model_P.Saturation3_UpperSat_o) {
5985 dx_hand_model_B.t1313 = dx_hand_model_P.Saturation3_UpperSat_o;
5986 } else if (dx_hand_model_B.Sum_a < dx_hand_model_P.Saturation3_LowerSat_i) {
5987 dx_hand_model_B.t1313 = dx_hand_model_P.Saturation3_LowerSat_i;
5988 } else {
5989 dx_hand_model_B.t1313 = dx_hand_model_B.Sum_a;
5990 }
5991
5992 /* End of Saturate: '<S173>/Saturation3' */
5993
5994 /* RateTransition: '<S173>/Rate Transition' */
5995 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
5996 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {
5997 dx_hand_model_B.RateTransition_m0[dx_hand_model_B.i] =
5998 dx_hand_model_DW.RateTransition_Buffer0_pk[dx_hand_model_B.i];
5999 }
6000 }
6001
6002 /* End of RateTransition: '<S173>/Rate Transition' */
6003
6004 /* MATLAB Function: '<S189>/Ring Parameters' */
6005 dx_hand_model_B.y[0] = dx_hand_model_B.RateTransition_m0[0];
6006 dx_hand_model_B.y[1] = dx_hand_model_B.RateTransition_m0[1];
6007 dx_hand_model_B.y[2] = dx_hand_model_B.RateTransition_m0[2];
6008 dx_hand_model_B.y[3] = dx_hand_model_B.RateTransition_m0[3];
6009 dx_hand_model_B.y[4] = 18.0;
6010 dx_hand_model_B.y[5] = 42.0;
6011 dx_hand_model_B.y[6] = 10.0;
6012 dx_hand_model_B.y[7] = 38.0;
6013 dx_hand_model_B.y[8] = 29.0;
6014 dx_hand_model_B.y[9] = 37.0;
6015 dx_hand_model_B.y[10] = 86.0;
6016 dx_hand_model_B.y[11] = 46.0;
6017 dx_hand_model_B.y[12] = 39.0;
6018 dx_hand_model_B.y[13] = 16.0;
6019 dx_hand_model_B.y[14] = 35.0;
6020 dx_hand_model_B.y[15] = 27.0;
6021 dx_hand_model_B.y[16] = 122.0;
6022 dx_hand_model_B.y[17] = 98.0;
6023
6024 /* DataTypeConversion: '<S189>/Data Type Conversion1' */
6025 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {
6026 dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)
6027 dx_hand_model_B.y[dx_hand_model_B.i];
6028 }
6029
6030 /* End of DataTypeConversion: '<S189>/Data Type Conversion1' */
6031
6032 /* MATLAB Function: '<S173>/Ring Direct Kinematics' */
6033 dx_h_MiddleDirectKinematics(dx_hand_model_B.Saturation2_e,
6034 dx_hand_model_B.t1313, dx_hand_model_B.DataTypeConversion1_d,
6035 &dx_hand_model_B.sf_RingDirectKinematics);
6036
6037 /* MATLAB Function: '<S172>/Ring Jacobian ' */
6038 dx_hand_mo_MiddleJacobian_g(dx_hand_model_B.sf_RingDirectKinematics.y,
6039 dx_hand_model_B.t1313, dx_hand_model_B.DataTypeConversion1_d,
6040 &dx_hand_model_B.sf_RingJacobian);
6041
6042 /* UnitDelay: '<S172>/Unit Delay3' */
6043 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] =
6044 dx_hand_model_DW.UnitDelay3_DSTATE_a[0];
6045 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =
6046 dx_hand_model_DW.UnitDelay3_DSTATE_a[1];
6047
6048 /* MATLAB Function: '<S172>/Ring Jacobian' incorporates:
6049 * UnitDelay: '<S172>/Unit Delay1'
6050 */
6051 dx_hand_mode_MiddleJacobian(dx_hand_model_B.sf_RingDirectKinematics.y,
6052 dx_hand_model_B.Saturation2_e, dx_hand_model_B.t1313,
6053 dx_hand_model_B.DataTypeConversion1_d,
6054 dx_hand_model_B.TmpSignalConversionAtSFun_c,
6055 dx_hand_model_DW.UnitDelay1_DSTATE_i, &dx_hand_model_B.sf_RingJacobian_e);
6056
6057 /* ManualSwitch: '<S172>/Manual Switch' */
6058 if (dx_hand_model_P.ManualSwitch_CurrentSetting_h == 1) {
6059 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_RingJacobian.JTcomp[0];
6060 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_RingJacobian.JTcomp[1];
6061 } else {
6062 dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[0];
6063 dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[1];
6064 }
6065
6066 /* Memory: '<S176>/Memory' */
6067 dx_hand_model_B.Memory_d[0] = dx_hand_model_DW.Memory_PreviousInput_b[0];
6068 dx_hand_model_B.Memory_d[1] = dx_hand_model_DW.Memory_PreviousInput_b[1];
6069
6070 /* ManualSwitch: '<S172>/Manual Switch' */
6071 if (dx_hand_model_P.ManualSwitch_CurrentSetting_h == 1) {
6072 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_RingJacobian.JTcomp[2];
6073 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_RingJacobian.JTcomp[3];
6074 } else {
6075 dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[2];
6076 dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[3];
6077 }
6078
6079 /* Memory: '<S176>/Memory' */
6080 dx_hand_model_B.Memory_d[2] = dx_hand_model_DW.Memory_PreviousInput_b[2];
6081 dx_hand_model_B.Memory_d[3] = dx_hand_model_DW.Memory_PreviousInput_b[3];
6082
6083 /* MATLAB Function: '<S176>/IsNan ' */
6084 dx_hand_model_IsNan(dx_hand_model_B.Switch_i, dx_hand_model_B.Memory_d,
6085 &dx_hand_model_B.sf_IsNan_l);
6086
6087 /* Switch: '<S176>/Switch' incorporates:
6088 * DataTypeConversion: '<S176>/Data Type Conversion1'
6089 */
6090 dx_hand_model_B.xneg = ((real32_T)dx_hand_model_B.RateTransition_nv >
6091 dx_hand_model_P.Switch_Threshold_dh);
6092 dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[0];
6093 if (!dx_hand_model_B.xneg) {
6094 dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[0];
6095 }
6096
6097 dx_hand_model_B.Filt4_c[0] = dx_hand_model_B.Saturation4_f;
6098 dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[1];
6099 if (!dx_hand_model_B.xneg) {
6100 dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[1];
6101 }
6102
6103 dx_hand_model_B.Filt4_c[1] = dx_hand_model_B.Saturation4_f;
6104 dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[2];
6105 if (!dx_hand_model_B.xneg) {
6106 dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[2];
6107 }
6108
6109 dx_hand_model_B.Filt4_c[2] = dx_hand_model_B.Saturation4_f;
6110 dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[3];
6111 if (!dx_hand_model_B.xneg) {
6112 dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[3];
6113 }
6114
6115 dx_hand_model_B.Filt4_c[3] = dx_hand_model_B.Saturation4_f;
6116
6117 /* End of Switch: '<S176>/Switch' */
6118
6119 /* RateTransition: '<S209>/Rate Transition' */
6120 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6121 dx_hand_model_B.RateTransition_p2 =
6122 dx_hand_model_DW.RateTransition_Buffer0_jt;
6123 }
6124
6125 /* End of RateTransition: '<S209>/Rate Transition' */
6126
6127 /* DiscreteTransferFcn: '<S31>/Filt 4' */
6128 dx_hand_model_B.k = 0;
6129 while (dx_hand_model_B.k < 1) {
6130 dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_c2[1] *
6131 dx_hand_model_DW.Filt4_states_h;
6132 dx_hand_model_B.k++;
6133 }
6134
6135 /* Switch: '<S31>/Switch' incorporates:
6136 * DataTypeConversion: '<S24>/Data Type Conversion1'
6137 */
6138 if (!((real32_T)dx_hand_model_B.RateTransition_gt >
6139 dx_hand_model_P.Switch_Threshold_lw)) {
6140 dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[6];
6141 }
6142
6143 /* End of Switch: '<S31>/Switch' */
6144
6145 /* RateTransition: '<S179>/Rate Transition' */
6146 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6147 dx_hand_model_B.RateTransition_pk =
6148 dx_hand_model_DW.RateTransition_Buffer0_oq;
6149 }
6150
6151 /* End of RateTransition: '<S179>/Rate Transition' */
6152
6153 /* Product: '<S179>/Product' incorporates:
6154 * DataTypeConversion: '<S179>/Data Type Conversion1'
6155 */
6156 dx_hand_model_B.Product_f = (real32_T)dx_hand_model_B.RateTransition_pk *
6157 dx_hand_model_B.sf_RingDirectKinematics.y[0];
6158
6159 /* Saturate: '<S175>/Saturation3' */
6160 if (dx_hand_model_B.Product_f > dx_hand_model_P.Saturation3_UpperSat_e) {
6161 dx_hand_model_B.DataTypeConversion5_n =
6162 dx_hand_model_P.Saturation3_UpperSat_e;
6163 } else if (dx_hand_model_B.Product_f < dx_hand_model_P.Saturation3_LowerSat_iw)
6164 {
6165 dx_hand_model_B.DataTypeConversion5_n =
6166 dx_hand_model_P.Saturation3_LowerSat_iw;
6167 } else {
6168 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Product_f;
6169 }
6170
6171 /* End of Saturate: '<S175>/Saturation3' */
6172
6173 /* RateTransition: '<S210>/Rate Transition' incorporates:
6174 * RateTransition: '<S180>/Rate Transition'
6175 */
6176 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6177 dx_hand_model_B.RateTransition_no =
6178 dx_hand_model_DW.RateTransition_Buffer0_im;
6179 dx_hand_model_B.RateTransition_mi =
6180 dx_hand_model_DW.RateTransition_Buffer0_ea;
6181 }
6182
6183 /* End of RateTransition: '<S210>/Rate Transition' */
6184
6185 /* Gain: '<S175>/Gain' */
6186 dx_hand_model_B.Sum_nf = dx_hand_model_P.Gain_Gain_f * dx_hand_model_B.Sum_a;
6187
6188 /* Product: '<S180>/Product' incorporates:
6189 * DataTypeConversion: '<S180>/Data Type Conversion1'
6190 */
6191 dx_hand_model_B.Saturation4_f = (real32_T)dx_hand_model_B.RateTransition_mi *
6192 dx_hand_model_B.sf_RingDirectKinematics.y[1];
6193
6194 /* Saturate: '<S175>/Saturation4' */
6195 if (dx_hand_model_B.Saturation4_f > dx_hand_model_P.Saturation4_UpperSat_h) {
6196 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation4_UpperSat_h;
6197 } else {
6198 if (dx_hand_model_B.Saturation4_f < dx_hand_model_P.Saturation4_LowerSat_i)
6199 {
6200 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation4_LowerSat_i;
6201 }
6202 }
6203
6204 /* End of Saturate: '<S175>/Saturation4' */
6205
6206 /* RateTransition: '<S211>/Rate Transition' incorporates:
6207 * RateTransition: '<S207>/Rate Transition'
6208 */
6209 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6210 dx_hand_model_B.RateTransition_c =
6211 dx_hand_model_DW.RateTransition_Buffer0_kpx;
6212 dx_hand_model_B.RateTransition_cc =
6213 dx_hand_model_DW.RateTransition_Buffer0_pu;
6214 }
6215
6216 /* End of RateTransition: '<S211>/Rate Transition' */
6217
6218 /* SampleTimeMath: '<S203>/TSamp'
6219 *
6220 * About '<S203>/TSamp':
6221 * y = u * K where K = 1 / ( w * Ts )
6222 */
6223 dx_hand_model_B.Saturation3_o = dx_hand_model_B.Sum_a *
6224 dx_hand_model_P.TSamp_WtEt_p;
6225
6226 /* SampleTimeMath: '<S201>/TSamp'
6227 *
6228 * About '<S201>/TSamp':
6229 * y = u * K where K = 1 / ( w * Ts )
6230 */
6231 dx_hand_model_B.TSamp_cb = dx_hand_model_B.DataTypeConversion5_n *
6232 dx_hand_model_P.TSamp_WtEt_ll;
6233
6234 /* RateTransition: '<S212>/Rate Transition' incorporates:
6235 * RateTransition: '<S208>/Rate Transition'
6236 */
6237 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6238 dx_hand_model_B.RateTransition_nc =
6239 dx_hand_model_DW.RateTransition_Buffer0_fb;
6240 dx_hand_model_B.RateTransition_jg =
6241 dx_hand_model_DW.RateTransition_Buffer0_ox;
6242 }
6243
6244 /* End of RateTransition: '<S212>/Rate Transition' */
6245
6246 /* SampleTimeMath: '<S204>/TSamp'
6247 *
6248 * About '<S204>/TSamp':
6249 * y = u * K where K = 1 / ( w * Ts )
6250 */
6251 dx_hand_model_B.TSamp_cm = dx_hand_model_B.Sum_nf *
6252 dx_hand_model_P.TSamp_WtEt_h4;
6253
6254 /* SampleTimeMath: '<S202>/TSamp'
6255 *
6256 * About '<S202>/TSamp':
6257 * y = u * K where K = 1 / ( w * Ts )
6258 */
6259 dx_hand_model_B.TSamp_g = dx_hand_model_B.Saturation4_f *
6260 dx_hand_model_P.TSamp_WtEt_k;
6261
6262 /* Switch: '<S207>/Switch' incorporates:
6263 * Constant: '<S207>/Constant'
6264 * DataTypeConversion: '<S207>/Data Type Conversion1'
6265 * Sum: '<S203>/Diff'
6266 * UnitDelay: '<S203>/UD'
6267 */
6268 if ((real32_T)dx_hand_model_B.RateTransition_cc >
6269 dx_hand_model_P.Switch_Threshold_o) {
6270 dx_hand_model_B.t4_o = dx_hand_model_B.Saturation3_o -
6271 dx_hand_model_DW.UD_DSTATE_j;
6272 } else {
6273 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_i;
6274 }
6275
6276 /* End of Switch: '<S207>/Switch' */
6277
6278 /* Sum: '<S175>/Sum2' incorporates:
6279 * DataTypeConversion: '<S209>/Data Type Conversion1'
6280 * DataTypeConversion: '<S211>/Data Type Conversion1'
6281 * Product: '<S209>/Product'
6282 * Product: '<S211>/Product'
6283 * Sum: '<S175>/Sum'
6284 * Sum: '<S175>/Sum3'
6285 * Sum: '<S201>/Diff'
6286 * UnitDelay: '<S201>/UD'
6287 */
6288 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -
6289 (dx_hand_model_B.TSamp_cb - dx_hand_model_DW.UD_DSTATE_ds)) * (real32_T)
6290 dx_hand_model_B.RateTransition_c + (dx_hand_model_B.Sum_a -
6291 dx_hand_model_B.DataTypeConversion5_n) * (real32_T)
6292 dx_hand_model_B.RateTransition_p2;
6293
6294 /* Switch: '<S208>/Switch' incorporates:
6295 * Constant: '<S208>/Constant'
6296 * DataTypeConversion: '<S208>/Data Type Conversion1'
6297 * Sum: '<S204>/Diff'
6298 * UnitDelay: '<S204>/UD'
6299 */
6300 if ((real32_T)dx_hand_model_B.RateTransition_jg >
6301 dx_hand_model_P.Switch_Threshold_ef) {
6302 dx_hand_model_B.t4_o = dx_hand_model_B.TSamp_cm -
6303 dx_hand_model_DW.UD_DSTATE_m;
6304 } else {
6305 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_cn;
6306 }
6307
6308 /* End of Switch: '<S208>/Switch' */
6309
6310 /* Sum: '<S175>/Sum2' incorporates:
6311 * DataTypeConversion: '<S210>/Data Type Conversion1'
6312 * DataTypeConversion: '<S212>/Data Type Conversion1'
6313 * Product: '<S210>/Product'
6314 * Product: '<S212>/Product'
6315 * Sum: '<S175>/Sum1'
6316 * Sum: '<S175>/Sum4'
6317 * Sum: '<S202>/Diff'
6318 * UnitDelay: '<S202>/UD'
6319 */
6320 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -
6321 (dx_hand_model_B.TSamp_g - dx_hand_model_DW.UD_DSTATE_k)) * (real32_T)
6322 dx_hand_model_B.RateTransition_nc + (dx_hand_model_B.Sum_nf -
6323 dx_hand_model_B.Saturation4_f) * (real32_T)dx_hand_model_B.RateTransition_no;
6324
6325 /* MATLAB Function: '<S175>/Optimized_Static_Problem' */
6326 Optimized_Static_Problem_e(dx_hand_model_B.Filt4_c,
6327 dx_hand_model_B.TmpSignalConversionAtSFun_c,
6328 &dx_hand_model_B.sf_Optimized_Static_Problem_p);
6329
6330 /* RateTransition: '<S206>/Rate Transition' */
6331 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6332 dx_hand_model_B.RateTransition_e5 =
6333 dx_hand_model_DW.RateTransition_Buffer0_d5;
6334 }
6335
6336 /* End of RateTransition: '<S206>/Rate Transition' */
6337
6338 /* MATLAB Function: '<S175>/Classic_Static_Problem' */
6339 dx_h_Classic_Static_Problem(dx_hand_model_B.Filt4_c,
6340 dx_hand_model_B.TmpSignalConversionAtSFun_c,
6341 &dx_hand_model_B.sf_Classic_Static_Problem_b);
6342
6343 /* RateTransition: '<S171>/Rate Transition' incorporates:
6344 * RateTransition: '<S199>/Rate Transition'
6345 */
6346 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6347 dx_hand_model_B.RateTransition_od =
6348 dx_hand_model_DW.RateTransition_Buffer0_ns;
6349 dx_hand_model_B.RateTransition_kg =
6350 dx_hand_model_DW.RateTransition_Buffer0_ap;
6351 }
6352
6353 /* End of RateTransition: '<S171>/Rate Transition' */
6354
6355 /* Gain: '<S196>/Gain2' incorporates:
6356 * Gain: '<S196>/Gain1'
6357 * Gain: '<S196>/Gain3'
6358 */
6359 dx_hand_model_B.ManualSwitch2 = dx_hand_model_P.Gain1_Gain_m *
6360 dx_hand_model_B.In1_e.Data[6] * dx_hand_model_P.Gain3_Gain_i *
6361 dx_hand_model_P.Gain2_Gain_n;
6362
6363 /* ManualSwitch: '<S199>/Manual Switch' incorporates:
6364 * Constant: '<S199>/Constant'
6365 * DataTypeConversion: '<S199>/Data Type Conversion2'
6366 */
6367 if (dx_hand_model_P.ManualSwitch_CurrentSetting_kt == 1) {
6368 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_kg;
6369 } else {
6370 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_c;
6371 }
6372
6373 /* End of ManualSwitch: '<S199>/Manual Switch' */
6374
6375 /* DataTypeConversion: '<S199>/Data Type Conversion1' incorporates:
6376 * Product: '<S199>/Product'
6377 */
6378 dx_hand_model_B.Saturation4_f = (real32_T)(dx_hand_model_B.t4_o *
6379 dx_hand_model_B.ManualSwitch2);
6380
6381 /* RateTransition: '<S198>/Rate Transition' */
6382 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6383 dx_hand_model_B.RateTransition_nm =
6384 dx_hand_model_DW.RateTransition_Buffer0_jz;
6385 }
6386
6387 /* End of RateTransition: '<S198>/Rate Transition' */
6388
6389 /* ManualSwitch: '<S198>/Manual Switch' incorporates:
6390 * Constant: '<S198>/Constant'
6391 * DataTypeConversion: '<S198>/Data Type Conversion2'
6392 */
6393 if (dx_hand_model_P.ManualSwitch_CurrentSetting_oq == 1) {
6394 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_nm;
6395 } else {
6396 dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ax;
6397 }
6398
6399 /* End of ManualSwitch: '<S198>/Manual Switch' */
6400
6401 /* Product: '<S198>/Product' */
6402 dx_hand_model_B.Switch = dx_hand_model_B.t4_o * dx_hand_model_B.ManualSwitch2;
6403
6404 /* MATLAB Function: '<S174>/Optimized_Static_Problem' incorporates:
6405 * DataTypeConversion: '<S198>/Data Type Conversion1'
6406 */
6407 dx_Optimized_Static_Problem(dx_hand_model_B.Filt4_c,
6408 dx_hand_model_B.Saturation4_f, (real32_T)dx_hand_model_B.Switch,
6409 &dx_hand_model_B.sf_Optimized_Static_Problem_ba);
6410
6411 /* RateTransition: '<S197>/Rate Transition' */
6412 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6413 dx_hand_model_B.RateTransition_cv =
6414 dx_hand_model_DW.RateTransition_Buffer0_lf;
6415 }
6416
6417 /* End of RateTransition: '<S197>/Rate Transition' */
6418
6419 /* MATLAB Function: '<S174>/Classic_Static_Problem' incorporates:
6420 * DataTypeConversion: '<S198>/Data Type Conversion1'
6421 */
6422 dx_Classic_Static_Problem_d(dx_hand_model_B.Filt4_c,
6423 dx_hand_model_B.Saturation4_f, (real32_T)dx_hand_model_B.Switch,
6424 &dx_hand_model_B.sf_Classic_Static_Problem_n);
6425
6426 /* Switch: '<S171>/Switch' incorporates:
6427 * DataTypeConversion: '<S171>/Data Type Conversion1'
6428 * DataTypeConversion: '<S197>/Data Type Conversion1'
6429 * Switch: '<S197>/Switch'
6430 */
6431 if ((real32_T)dx_hand_model_B.RateTransition_od >
6432 dx_hand_model_P.Switch_Threshold_gv) {
6433 /* Switch: '<S206>/Switch' incorporates:
6434 * DataTypeConversion: '<S206>/Data Type Conversion1'
6435 */
6436 if ((real32_T)dx_hand_model_B.RateTransition_e5 >
6437 dx_hand_model_P.Switch_Threshold_e) {
6438 dx_hand_model_B.Saturation4_f =
6439 dx_hand_model_B.sf_Optimized_Static_Problem_p.y;
6440 } else {
6441 dx_hand_model_B.Saturation4_f =
6442 dx_hand_model_B.sf_Classic_Static_Problem_b.rate;
6443 }
6444
6445 /* End of Switch: '<S206>/Switch' */
6446 } else if ((real32_T)dx_hand_model_B.RateTransition_cv >
6447 dx_hand_model_P.Switch_Threshold_f) {
6448 /* Switch: '<S197>/Switch' */
6449 dx_hand_model_B.Saturation4_f =
6450 dx_hand_model_B.sf_Optimized_Static_Problem_ba.y;
6451 } else {
6452 dx_hand_model_B.Saturation4_f =
6453 dx_hand_model_B.sf_Classic_Static_Problem_n.y;
6454 }
6455
6456 /* End of Switch: '<S171>/Switch' */
6457
6458 /* RateTransition: '<S181>/Rate Transition' incorporates:
6459 * RateTransition: '<S170>/Rate Transition'
6460 */
6461 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6462 dx_hand_model_B.RateTransition_an =
6463 dx_hand_model_DW.RateTransition_Buffer0_eb;
6464 dx_hand_model_B.RateTransition_is =
6465 dx_hand_model_DW.RateTransition_Buffer0_m1;
6466 }
6467
6468 /* End of RateTransition: '<S181>/Rate Transition' */
6469
6470 /* Switch: '<S169>/Switch' incorporates:
6471 * Constant: '<S169>/Constant'
6472 * DataTypeConversion: '<S169>/Data Type Conversion1'
6473 */
6474 if ((real32_T)dx_hand_model_B.RateTransition_fh >
6475 dx_hand_model_P.Switch_Threshold_m) {
6476 /* Switch: '<S181>/Switch' incorporates:
6477 * DataTypeConversion: '<S181>/Data Type Conversion1'
6478 * Saturate: '<S181>/Saturation2'
6479 */
6480 if ((real32_T)dx_hand_model_B.RateTransition_an >
6481 dx_hand_model_P.Switch_Threshold_k) {
6482 /* Saturate: '<S181>/Saturation1' */
6483 if (dx_hand_model_B.Saturation4_f > dx_hand_model_P.max_force) {
6484 dx_hand_model_B.Saturation4_f = dx_hand_model_P.max_force;
6485 } else {
6486 if (dx_hand_model_B.Saturation4_f <
6487 dx_hand_model_P.Saturation1_LowerSat_e) {
6488 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation1_LowerSat_e;
6489 }
6490 }
6491
6492 /* End of Saturate: '<S181>/Saturation1' */
6493 } else if (dx_hand_model_B.Saturation4_f >
6494 dx_hand_model_P.Saturation2_UpperSat_f) {
6495 /* Saturate: '<S181>/Saturation2' */
6496 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation2_UpperSat_f;
6497 } else {
6498 if (dx_hand_model_B.Saturation4_f < dx_hand_model_P.Saturation2_LowerSat_b)
6499 {
6500 /* Saturate: '<S181>/Saturation2' */
6501 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation2_LowerSat_b;
6502 }
6503 }
6504
6505 /* End of Switch: '<S181>/Switch' */
6506 } else {
6507 dx_hand_model_B.Saturation4_f = dx_hand_model_P.Constant_Value_o;
6508 }
6509
6510 /* End of Switch: '<S169>/Switch' */
6511
6512 /* ManualSwitch: '<S173>/Manual Switch' incorporates:
6513 * Constant: '<S173>/Constant'
6514 * Constant: '<S173>/Constant3'
6515 */
6516 if (dx_hand_model_P.ManualSwitch_CurrentSetting_mc == 1) {
6517 dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_a;
6518 } else {
6519 dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_e;
6520 }
6521
6522 /* End of ManualSwitch: '<S173>/Manual Switch' */
6523
6524 /* Outputs for Enabled SubSystem: '<S173>/Record' incorporates:
6525 * EnablePort: '<S187>/Enable'
6526 */
6527 if (dx_hand_model_B.t4 > 0.0) {
6528 /* SignalConversion: '<S187>/TmpSignal ConversionAtTo WorkspaceInport1' */
6529 dx_hand_model_B.TmpSignalConversionAtToWork[0] =
6530 dx_hand_model_B.Saturation2_e;
6531 dx_hand_model_B.TmpSignalConversionAtToWork[1] = dx_hand_model_B.t1313;
6532 memcpy(&dx_hand_model_B.TmpSignalConversionAtToWork[2],
6533 &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));
6534 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {
6535 dx_hand_model_B.TmpSignalConversionAtToWork[dx_hand_model_B.i + 20] =
6536 dx_hand_model_B.sf_RingDirectKinematics.y[dx_hand_model_B.i];
6537 }
6538
6539 /* End of SignalConversion: '<S187>/TmpSignal ConversionAtTo WorkspaceInport1' */
6540 }
6541
6542 /* End of Outputs for SubSystem: '<S173>/Record' */
6543
6544 /* Start for MATLABSystem: '<S184>/Set Parameter' incorporates:
6545 * DataTypeConversion: '<S184>/Data Type Conversion2'
6546 */
6547 ParamSet_dx_hand_model_4323.set_parameter((real_T)dx_hand_model_B.Delay_m[16]);
6548
6549 /* RateTransition: '<S279>/Rate Transition' incorporates:
6550 * RateTransition: '<S268>/Rate Transition'
6551 * RateTransition: '<S269>/Rate Transition'
6552 * RateTransition: '<S280>/Rate Transition'
6553 * RateTransition: '<S281>/Rate Transition'
6554 */
6555 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6556 dx_hand_model_B.RateTransition_nk =
6557 dx_hand_model_DW.RateTransition_Buffer0_ly;
6558 dx_hand_model_B.RateTransition_mpf =
6559 dx_hand_model_DW.RateTransition_Buffer0_n4;
6560 dx_hand_model_B.RateTransition_ko =
6561 dx_hand_model_DW.RateTransition_Buffer0_gs;
6562 dx_hand_model_B.RateTransition_k0 =
6563 dx_hand_model_DW.RateTransition_Buffer0_kx;
6564 dx_hand_model_B.RateTransition_db =
6565 dx_hand_model_DW.RateTransition_Buffer0_dh;
6566 }
6567
6568 /* End of RateTransition: '<S279>/Rate Transition' */
6569
6570 /* ManualSwitch: '<S229>/Manual Switch2' incorporates:
6571 * Constant: '<S229>/Constant'
6572 * Constant: '<S268>/Constant'
6573 * Gain: '<S268>/Gain Aggiustato'
6574 * Sum: '<S268>/Sum1'
6575 * Sum: '<S268>/Sum2'
6576 */
6577 if (dx_hand_model_P.ManualSwitch2_CurrentSetting == 1) {
6578 /* ManualSwitch: '<S268>/Manual Switch' incorporates:
6579 * Constant: '<S268>/Constant1'
6580 * DataTypeConversion: '<S268>/Data Type Conversion1'
6581 */
6582 if (dx_hand_model_P.ManualSwitch_CurrentSetting_j == 1) {
6583 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_k0;
6584 } else {
6585 dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_g4;
6586 }
6587
6588 /* End of ManualSwitch: '<S268>/Manual Switch' */
6589 dx_hand_model_B.ManualSwitch2 = (dx_hand_model_B.Delay_m[17] -
6590 dx_hand_model_B.t4_o) * dx_hand_model_P.GainAggiustato_Gain_m -
6591 dx_hand_model_P.Constant_Value_dn;
6592 } else {
6593 dx_hand_model_B.ManualSwitch2 = dx_hand_model_P.Constant_Value_e;
6594 }
6595
6596 /* End of ManualSwitch: '<S229>/Manual Switch2' */
6597
6598 /* ManualSwitch: '<S229>/Manual Switch1' incorporates:
6599 * Constant: '<S229>/Constant1'
6600 * Constant: '<S269>/Constant'
6601 * Gain: '<S269>/Gain Aggiustato'
6602 * Sum: '<S269>/Sum1'
6603 * Sum: '<S269>/Sum2'
6604 */
6605 if (dx_hand_model_P.ManualSwitch1_CurrentSetting == 1) {
6606 /* ManualSwitch: '<S269>/Manual Switch' incorporates:
6607 * Constant: '<S269>/Constant1'
6608 * DataTypeConversion: '<S269>/Data Type Conversion1'
6609 */
6610 if (dx_hand_model_P.ManualSwitch_CurrentSetting_lg == 1) {
6611 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_db;
6612 } else {
6613 dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_jr;
6614 }
6615
6616 /* End of ManualSwitch: '<S269>/Manual Switch' */
6617 dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[18] - dx_hand_model_B.t4_o)
6618 * dx_hand_model_P.GainAggiustato_Gain_c -
6619 dx_hand_model_P.Constant_Value_ld;
6620 } else {
6621 dx_hand_model_B.Switch = dx_hand_model_P.Constant1_Value_p;
6622 }
6623
6624 /* End of ManualSwitch: '<S229>/Manual Switch1' */
6625
6626 /* DataTypeConversion: '<S227>/Data Type Conversion3' */
6627 dx_hand_model_B.Sum_a = (real32_T)dx_hand_model_B.Switch;
6628
6629 /* RateTransition: '<S270>/Rate Transition' */
6630 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6631 dx_hand_model_B.RateTransition_p0 =
6632 dx_hand_model_DW.RateTransition_Buffer0_pl;
6633 }
6634
6635 /* End of RateTransition: '<S270>/Rate Transition' */
6636
6637 /* ManualSwitch: '<S229>/Manual Switch' incorporates:
6638 * Constant: '<S229>/Constant2'
6639 * Constant: '<S270>/Constant'
6640 * Gain: '<S270>/Gain Aggiustato'
6641 * Sum: '<S270>/Sum1'
6642 * Sum: '<S270>/Sum2'
6643 */
6644 if (dx_hand_model_P.ManualSwitch_CurrentSetting_bs == 1) {
6645 /* ManualSwitch: '<S270>/Manual Switch' incorporates:
6646 * Constant: '<S270>/Constant1'
6647 * DataTypeConversion: '<S270>/Data Type Conversion1'
6648 */
6649 if (dx_hand_model_P.ManualSwitch_CurrentSetting_ld == 1) {
6650 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_p0;
6651 } else {
6652 dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_l;
6653 }
6654
6655 /* End of ManualSwitch: '<S270>/Manual Switch' */
6656 dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[19] - dx_hand_model_B.t4_o)
6657 * dx_hand_model_P.GainAggiustato_Gain_cb -
6658 dx_hand_model_P.Constant_Value_iv;
6659 } else {
6660 dx_hand_model_B.Switch = dx_hand_model_P.Constant2_Value;
6661 }
6662
6663 /* End of ManualSwitch: '<S229>/Manual Switch' */
6664
6665 /* DataTypeConversion: '<S227>/Data Type Conversion4' */
6666 dx_hand_model_B.Sum1_h = (real32_T)dx_hand_model_B.Switch;
6667
6668 /* RateTransition: '<S271>/Rate Transition' */
6669 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6670 dx_hand_model_B.RateTransition_g2 =
6671 dx_hand_model_DW.RateTransition_Buffer0_ck;
6672 }
6673
6674 /* End of RateTransition: '<S271>/Rate Transition' */
6675
6676 /* ManualSwitch: '<S229>/Manual Switch4' incorporates:
6677 * Constant: '<S229>/Constant5'
6678 * Gain: '<S271>/Gain Aggiustato'
6679 * Gain: '<S271>/Sign'
6680 * Sum: '<S271>/Sum2'
6681 */
6682 if (dx_hand_model_P.ManualSwitch4_CurrentSetting == 1) {
6683 /* ManualSwitch: '<S271>/Manual Switch' incorporates:
6684 * Constant: '<S271>/Constant2'
6685 * DataTypeConversion: '<S271>/Data Type Conversion1'
6686 */
6687 if (dx_hand_model_P.ManualSwitch_CurrentSetting_l == 1) {
6688 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_g2;
6689 } else {
6690 dx_hand_model_B.t4_o = dx_hand_model_P.Constant2_Value_a;
6691 }
6692
6693 /* End of ManualSwitch: '<S271>/Manual Switch' */
6694 dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[20] - dx_hand_model_B.t4_o)
6695 * dx_hand_model_P.GainAggiustato_Gain_j * dx_hand_model_P.Sign_Gain_d;
6696 } else {
6697 dx_hand_model_B.Switch = dx_hand_model_P.Constant5_Value;
6698 }
6699
6700 /* End of ManualSwitch: '<S229>/Manual Switch4' */
6701
6702 /* DataTypeConversion: '<S227>/Data Type Conversion5' */
6703 dx_hand_model_B.DataTypeConversion5_n = (real32_T)dx_hand_model_B.Switch;
6704
6705 /* RateTransition: '<S272>/Rate Transition' */
6706 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
6707 dx_hand_model_B.RateTransition_ek =
6708 dx_hand_model_DW.RateTransition_Buffer0_aw;
6709 }
6710
6711 /* End of RateTransition: '<S272>/Rate Transition' */
6712
6713 /* ManualSwitch: '<S229>/Manual Switch5' incorporates:
6714 * Constant: '<S229>/Constant6'
6715 * Gain: '<S272>/Gain Aggiustato'
6716 * Gain: '<S272>/Sign'
6717 * Sum: '<S272>/Sum2'
6718 */
6719 if (dx_hand_model_P.ManualSwitch5_CurrentSetting == 1) {
6720 /* ManualSwitch: '<S272>/Manual Switch' incorporates:
6721 * Constant: '<S272>/Constant2'
6722 * DataTypeConversion: '<S272>/Data Type Conversion1'
6723 */
6724 if (dx_hand_model_P.ManualSwitch_CurrentSetting == 1) {
6725 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_ek;
6726 } else {
6727 dx_hand_model_B.t4_o = dx_hand_model_P.Constant2_Value_m;
6728 }
6729
6730 /* End of ManualSwitch: '<S272>/Manual Switch' */
6731 dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[21] - dx_hand_model_B.t4_o)
6732 * dx_hand_model_P.GainAggiustato_Gain_p * dx_hand_model_P.Sign_Gain_i;
6733 } else {
6734 dx_hand_model_B.Switch = dx_hand_model_P.Constant6_Value;
6735 }
6736
6737 /* End of ManualSwitch: '<S229>/Manual Switch5' */
6738
6739 /* MATLAB Function: '<S227>/F transformation new' incorporates:
6740 * DataTypeConversion: '<S227>/Data Type Conversion2'
6741 * DataTypeConversion: '<S227>/Data Type Conversion6'
6742 */
6743 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 = (real32_T)sin((real_T)
6744 (real32_T)dx_hand_model_B.ManualSwitch2);
6745 dx_hand_model_B.Sum_nf = (real32_T)cos((real_T)(real32_T)
6746 dx_hand_model_B.ManualSwitch2);
6747 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp = 7.02547E+15F *
6748 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;
6749 dx_hand_model_B.t1313 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp /
6750 1.62259277E+32F;
6751 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe = (0.707106769F -
6752 2.46786152E+31F * dx_hand_model_B.Sum_nf / (rtInfF)) + dx_hand_model_B.t1313;
6753 dx_hand_model_B.t4_o = (real32_T)cos((real_T)(dx_hand_model_B.Sum_a +
6754 1.57079637F));
6755 dx_hand_model_B.t7 = 1.41421354F * dx_hand_model_B.Sum_nf;
6756 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = 4.96775782E+15F *
6757 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;
6758 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l = dx_hand_model_B.t7 / 2.0F;
6759 dx_hand_model_B.t12_o = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n /
6760 4.05648192E+31F + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l;
6761 dx_hand_model_B.Sum_a = (real32_T)sin((real_T)(dx_hand_model_B.Sum_a +
6762 1.57079637F));
6763 dx_hand_model_B.T_C[0] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe *
6764 dx_hand_model_B.Sum_a - dx_hand_model_B.t12_o * dx_hand_model_B.t4_o;
6765 dx_hand_model_B.T_C[4] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe *
6766 dx_hand_model_B.t4_o + dx_hand_model_B.t12_o * dx_hand_model_B.Sum_a;
6767 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p = 4.96775782E+15F *
6768 dx_hand_model_B.Sum_nf;
6769 dx_hand_model_B.t3 = 1.41421354F *
6770 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 / 2.0F;
6771 dx_hand_model_B.LDF_tmp = (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p /
6772 4.05648192E+31F + 4.3297803E-17F) - dx_hand_model_B.t3;
6773 dx_hand_model_B.T_C[8] = dx_hand_model_B.LDF_tmp;
6774 dx_hand_model_B.t1212 = dx_hand_model_B.t4_o * 30.0F;
6775 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.Sum_a * 30.0F;
6776 dx_hand_model_B.T_C[12] = (11.6672621F - dx_hand_model_B.t12_o *
6777 dx_hand_model_B.t1212) + dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe *
6778 dx_hand_model_B.xD1_tmp_tmp;
6779 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g = 3.49008325E+31F *
6780 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 / (rtInfF);
6781 dx_hand_model_B.t12_o = (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p /
6782 8.11296384E+31F + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g) +
6783 8.6595606E-17F;
6784 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 = 7.02547E+15F *
6785 dx_hand_model_B.Sum_nf / 8.11296384E+31F -
6786 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;
6787 dx_hand_model_B.T_C[1] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *
6788 dx_hand_model_B.t4_o - dx_hand_model_B.t12_o * dx_hand_model_B.Sum_a;
6789 dx_hand_model_B.T_C[5] = dx_hand_model_B.t12_o * -dx_hand_model_B.t4_o -
6790 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 * dx_hand_model_B.Sum_a;
6791 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp =
6792 (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp / 8.11296384E+31F +
6793 dx_hand_model_B.Sum_nf) - 5.30245151E-33F;
6794 dx_hand_model_B.T_C[9] = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
6795 dx_hand_model_B.T_C[13] = (dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *
6796 dx_hand_model_B.t1212 - dx_hand_model_B.t12_o * dx_hand_model_B.xD1_tmp_tmp)
6797 - 1.42882748E-15F;
6798 dx_hand_model_B.T_C[2] = (0.707106769F - dx_hand_model_B.t1313) *
6799 dx_hand_model_B.Sum_a + dx_hand_model_B.t7 * dx_hand_model_B.t4_o / 2.0F;
6800 dx_hand_model_B.T_C[6] = (0.707106769F - 7.02547E+15F * (real32_T)sin((real_T)
6801 (real32_T)dx_hand_model_B.ManualSwitch2) / 1.62259277E+32F) *
6802 dx_hand_model_B.t4_o - dx_hand_model_B.t7 * dx_hand_model_B.Sum_a / 2.0F;
6803 dx_hand_model_B.T_C[10] = dx_hand_model_B.t3 + 4.3297803E-17F;
6804 dx_hand_model_B.T_C[14] = ((0.707106769F - 7.02547E+15F * (real32_T)sin
6805 ((real_T)(real32_T)dx_hand_model_B.ManualSwitch2) / 1.62259277E+32F) *
6806 dx_hand_model_B.xD1_tmp_tmp + 11.6672621F) + 21.2132034F *
6807 dx_hand_model_B.Sum_nf * dx_hand_model_B.t4_o;
6808 dx_hand_model_B.T_C[3] = 0.0F;
6809 dx_hand_model_B.T_C[7] = 0.0F;
6810 dx_hand_model_B.T_C[11] = 0.0F;
6811 dx_hand_model_B.T_C[15] = 1.0F;
6812 dx_hand_model_B.t4_o = (real32_T)cos((real_T)
6813 dx_hand_model_B.DataTypeConversion5_n);
6814 dx_hand_model_B.fv1[0] = dx_hand_model_B.t4_o;
6815 dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)
6816 dx_hand_model_B.DataTypeConversion5_n);
6817 dx_hand_model_B.fv1[4] = -(4.96775782E+15F *
6818 dx_hand_model_B.DataTypeConversion5_n) / 8.11296384E+31F;
6819 dx_hand_model_B.fv1[8] = dx_hand_model_B.DataTypeConversion5_n;
6820 dx_hand_model_B.fv1[12] = 100.0F * dx_hand_model_B.t4_o;
6821 dx_hand_model_B.fv1[1] = dx_hand_model_B.DataTypeConversion5_n;
6822 dx_hand_model_B.fv1[5] = 4.96775782E+15F * dx_hand_model_B.t4_o /
6823 8.11296384E+31F;
6824 dx_hand_model_B.fv1[9] = -dx_hand_model_B.t4_o;
6825 dx_hand_model_B.fv1[13] = 100.0F * dx_hand_model_B.DataTypeConversion5_n;
6826 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
6827 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {
6828 dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;
6829 dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6830 c[dx_hand_model_B.i << 2] * dx_hand_model_B.T_C[dx_hand_model_B.k];
6831 dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] += c
6832 [(dx_hand_model_B.i << 2) + 1] * dx_hand_model_B.T_C[dx_hand_model_B.k +
6833 4];
6834 dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] += c
6835 [(dx_hand_model_B.i << 2) + 2] * dx_hand_model_B.T_C[dx_hand_model_B.k +
6836 8];
6837 dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] += c
6838 [(dx_hand_model_B.i << 2) + 3] * dx_hand_model_B.T_C[dx_hand_model_B.k +
6839 12];
6840 }
6841
6842 dx_hand_model_B.fv1[2 + (dx_hand_model_B.k << 2)] = e[dx_hand_model_B.k];
6843 dx_hand_model_B.fv1[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];
6844 }
6845
6846 dx_hand_model_B.t4_o = (real32_T)cos((real_T)(dx_hand_model_B.Sum1_h -
6847 2.04768825F));
6848 dx_hand_model_B.T_J_k[0] = dx_hand_model_B.t4_o;
6849 dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)
6850 (dx_hand_model_B.Sum1_h - 2.04768825F));
6851 dx_hand_model_B.T_J_k[4] = -dx_hand_model_B.DataTypeConversion5_n;
6852 dx_hand_model_B.T_J_k[8] = 0.0F;
6853 dx_hand_model_B.T_J_k[12] = dx_hand_model_B.t4_o * 67.5351791F;
6854 dx_hand_model_B.T_J_k[1] = dx_hand_model_B.DataTypeConversion5_n;
6855 dx_hand_model_B.T_J_k[5] = dx_hand_model_B.t4_o;
6856 dx_hand_model_B.T_J_k[9] = 0.0F;
6857 dx_hand_model_B.T_J_k[13] = dx_hand_model_B.DataTypeConversion5_n *
6858 67.5351791F;
6859 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
6860 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {
6861 dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;
6862 dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6863 dx_hand_model_B.fv1[dx_hand_model_B.i << 2] *
6864 dx_hand_model_B.T_E[dx_hand_model_B.k];
6865 dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6866 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 1] *
6867 dx_hand_model_B.T_E[dx_hand_model_B.k + 4];
6868 dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6869 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 2] *
6870 dx_hand_model_B.T_E[dx_hand_model_B.k + 8];
6871 dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6872 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 3] *
6873 dx_hand_model_B.T_E[dx_hand_model_B.k + 12];
6874 }
6875
6876 dx_hand_model_B.T_J_k[2 + (dx_hand_model_B.k << 2)] = f[dx_hand_model_B.k];
6877 dx_hand_model_B.T_J_k[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];
6878 }
6879
6880 dx_hand_model_B.t4_o = (real32_T)cos((real_T)(dx_hand_model_B.Sum1_h -
6881 1.57079637F));
6882 dx_hand_model_B.fv1[0] = dx_hand_model_B.t4_o;
6883 dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)
6884 (dx_hand_model_B.Sum1_h - 1.57079637F));
6885 dx_hand_model_B.Sum_nf = -(dx_hand_model_B.DataTypeConversion5_n *
6886 4.96775782E+15F) / 8.11296384E+31F;
6887 dx_hand_model_B.fv1[4] = dx_hand_model_B.Sum_nf;
6888 dx_hand_model_B.fv1[8] = -dx_hand_model_B.DataTypeConversion5_n;
6889 dx_hand_model_B.fv1[12] = dx_hand_model_B.t4_o * 60.0F;
6890 dx_hand_model_B.fv1[1] = dx_hand_model_B.DataTypeConversion5_n;
6891 dx_hand_model_B.Sum_a = dx_hand_model_B.t4_o * 4.96775782E+15F /
6892 8.11296384E+31F;
6893 dx_hand_model_B.fv1[5] = dx_hand_model_B.Sum_a;
6894 dx_hand_model_B.fv1[9] = dx_hand_model_B.t4_o;
6895 dx_hand_model_B.fv1[13] = dx_hand_model_B.DataTypeConversion5_n * 60.0F;
6896 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
6897 dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = 0.0F;
6898 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {
6899 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;
6900 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6901 dx_hand_model_B.T_J_k[dx_hand_model_B.i << 2] *
6902 dx_hand_model_B.T_C[dx_hand_model_B.k];
6903 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6904 dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 1] *
6905 dx_hand_model_B.T_C[dx_hand_model_B.k + 4];
6906 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6907 dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 2] *
6908 dx_hand_model_B.T_C[dx_hand_model_B.k + 8];
6909 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6910 dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 3] *
6911 dx_hand_model_B.T_C[dx_hand_model_B.k + 12];
6912 dx_hand_model_B.Filt4_c[dx_hand_model_B.k] += dx_hand_model_B.T_C_c
6913 [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)
6914 d[dx_hand_model_B.i];
6915 }
6916
6917 dx_hand_model_B.fv1[2 + (dx_hand_model_B.k << 2)] = g[dx_hand_model_B.k];
6918 dx_hand_model_B.fv1[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];
6919 }
6920
6921 dx_hand_model_B.T_J_k[0] = dx_hand_model_B.t4_o;
6922 dx_hand_model_B.T_J_k[4] = dx_hand_model_B.Sum_nf;
6923 dx_hand_model_B.T_J_k[8] = -(real32_T)sin((real_T)(dx_hand_model_B.Sum1_h -
6924 1.57079637F));
6925 dx_hand_model_B.T_J_k[12] = dx_hand_model_B.t4_o * 85.0F;
6926 dx_hand_model_B.T_J_k[1] = dx_hand_model_B.DataTypeConversion5_n;
6927 dx_hand_model_B.T_J_k[5] = dx_hand_model_B.Sum_a;
6928 dx_hand_model_B.T_J_k[9] = dx_hand_model_B.t4_o;
6929 dx_hand_model_B.T_J_k[13] = dx_hand_model_B.DataTypeConversion5_n * 85.0F;
6930 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
6931 dx_hand_model_B.Switch_i[dx_hand_model_B.k] = 0.0F;
6932 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {
6933 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;
6934 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6935 dx_hand_model_B.fv1[dx_hand_model_B.i << 2] *
6936 dx_hand_model_B.T_C[dx_hand_model_B.k];
6937 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6938 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 1] *
6939 dx_hand_model_B.T_C[dx_hand_model_B.k + 4];
6940 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6941 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 2] *
6942 dx_hand_model_B.T_C[dx_hand_model_B.k + 8];
6943 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6944 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 3] *
6945 dx_hand_model_B.T_C[dx_hand_model_B.k + 12];
6946 dx_hand_model_B.Switch_i[dx_hand_model_B.k] += dx_hand_model_B.T_C_c
6947 [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)
6948 d[dx_hand_model_B.i];
6949 }
6950
6951 dx_hand_model_B.T_J_k[2 + (dx_hand_model_B.k << 2)] = g[dx_hand_model_B.k];
6952 dx_hand_model_B.T_J_k[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];
6953 }
6954
6955 dx_hand_model_B.fv1[0] = 0.0F;
6956 dx_hand_model_B.fv1[4] = 0.0F;
6957 dx_hand_model_B.fv1[8] = 0.0F;
6958 dx_hand_model_B.fv1[12] = 80.0F * (real32_T)sin((real_T)(real32_T)
6959 dx_hand_model_B.Switch);
6960 dx_hand_model_B.fv1[1] = 0.0F;
6961 dx_hand_model_B.fv1[5] = 0.0F;
6962 dx_hand_model_B.fv1[9] = 0.0F;
6963 dx_hand_model_B.fv1[13] = -80.0F * (real32_T)cos((real_T)(real32_T)
6964 dx_hand_model_B.Switch);
6965 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
6966 dx_hand_model_B.Memory_d[dx_hand_model_B.k] = 0.0F;
6967 dx_hand_model_B.J[dx_hand_model_B.k] = 0.0F;
6968 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {
6969 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;
6970 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6971 dx_hand_model_B.T_J_k[dx_hand_model_B.i << 2] *
6972 dx_hand_model_B.T_C[dx_hand_model_B.k];
6973 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6974 dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 1] *
6975 dx_hand_model_B.T_C[dx_hand_model_B.k + 4];
6976 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6977 dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 2] *
6978 dx_hand_model_B.T_C[dx_hand_model_B.k + 8];
6979 dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6980 dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 3] *
6981 dx_hand_model_B.T_C[dx_hand_model_B.k + 12];
6982 dx_hand_model_B.Memory_d[dx_hand_model_B.k] += dx_hand_model_B.T_C_c
6983 [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)
6984 d[dx_hand_model_B.i];
6985 dx_hand_model_B.J[dx_hand_model_B.k] += dx_hand_model_B.T_J
6986 [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)
6987 d[dx_hand_model_B.i];
6988 }
6989
6990 dx_hand_model_B.fv1[2 + (dx_hand_model_B.k << 2)] = 0.0F;
6991 dx_hand_model_B.fv1[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];
6992 }
6993
6994 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
6995 dx_hand_model_B.I[dx_hand_model_B.k] = 0.0F;
6996 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {
6997 dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;
6998 dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
6999 dx_hand_model_B.fv1[dx_hand_model_B.i << 2] *
7000 dx_hand_model_B.T_J[dx_hand_model_B.k];
7001 dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
7002 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 1] *
7003 dx_hand_model_B.T_J[dx_hand_model_B.k + 4];
7004 dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
7005 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 2] *
7006 dx_hand_model_B.T_J[dx_hand_model_B.k + 8];
7007 dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=
7008 dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 3] *
7009 dx_hand_model_B.T_J[dx_hand_model_B.k + 12];
7010 dx_hand_model_B.I[dx_hand_model_B.k] += dx_hand_model_B.T_J_k
7011 [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)
7012 d[dx_hand_model_B.i];
7013 }
7014 }
7015
7016 /* RateTransition: '<S282>/Rate Transition' */
7017 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
7018 dx_hand_model_B.RateTransition_gi =
7019 dx_hand_model_DW.RateTransition_Buffer0_l4;
7020 }
7021
7022 /* End of RateTransition: '<S282>/Rate Transition' */
7023
7024 /* MATLAB Function: '<S231>/Find K position' incorporates:
7025 * ComplexToRealImag: '<S227>/Complex to Real-Imag'
7026 * ComplexToRealImag: '<S227>/Complex to Real-Imag1'
7027 * DataTypeConversion: '<S279>/Data Type Conversion1'
7028 * DataTypeConversion: '<S280>/Data Type Conversion1'
7029 * DataTypeConversion: '<S281>/Data Type Conversion1'
7030 * DataTypeConversion: '<S282>/Data Type Conversion1'
7031 */
7032 dx_hand_model_B.DataTypeConversion5_n = (real32_T)
7033 dx_hand_model_B.RateTransition_nk * (real32_T)
7034 dx_hand_model_B.RateTransition_nk;
7035 dx_hand_model_B.t3 = (real32_T)dx_hand_model_B.RateTransition_mpf * (real32_T)
7036 dx_hand_model_B.RateTransition_mpf;
7037 dx_hand_model_B.t4_o = dx_hand_model_B.Filt4_c[0] * dx_hand_model_B.Filt4_c[0];
7038 dx_hand_model_B.t1313 = dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.Filt4_c[1];
7039 dx_hand_model_B.Sum_nf = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Filt4_c
7040 [2];
7041 dx_hand_model_B.t7 = (real32_T)dx_hand_model_B.RateTransition_ko * (real32_T)
7042 dx_hand_model_B.RateTransition_ko;
7043 dx_hand_model_B.t8_h = (real32_T)dx_hand_model_B.RateTransition_gi * (real32_T)
7044 dx_hand_model_B.RateTransition_gi;
7045 dx_hand_model_B.t9_tmp = (real32_T)dx_hand_model_B.RateTransition_nk *
7046 dx_hand_model_B.Filt4_c[0];
7047 dx_hand_model_B.t9_tmp_n = (real32_T)dx_hand_model_B.RateTransition_mpf *
7048 dx_hand_model_B.Filt4_c[1];
7049 dx_hand_model_B.t9_tmp_d = (real32_T)dx_hand_model_B.RateTransition_ko *
7050 dx_hand_model_B.Filt4_c[2];
7051 dx_hand_model_B.t9_l = (((((((dx_hand_model_B.DataTypeConversion5_n +
7052 dx_hand_model_B.t3) + dx_hand_model_B.t4_o) + dx_hand_model_B.t1313) +
7053 dx_hand_model_B.Sum_nf) + dx_hand_model_B.t7) - dx_hand_model_B.t9_tmp *
7054 2.0F) - dx_hand_model_B.t9_tmp_n * 2.0F) - dx_hand_model_B.t9_tmp_d * 2.0F;
7055 dx_hand_model_B.t749 = dx_hand_model_B.Filt4_c[2] *
7056 dx_hand_model_B.DataTypeConversion5_n;
7057 dx_hand_model_B.t26_tmp_g = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t3;
7058 dx_hand_model_B.t27_m = (real32_T)dx_hand_model_B.RateTransition_ko *
7059 dx_hand_model_B.Sum_nf * 2.0F;
7060 dx_hand_model_B.t28_h = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t7;
7061 dx_hand_model_B.t29_c = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t4_o;
7062 dx_hand_model_B.t30_k = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t1313;
7063 dx_hand_model_B.t31_p = (real32_T)dx_hand_model_B.RateTransition_ko *
7064 dx_hand_model_B.t8_h;
7065 dx_hand_model_B.t32_p = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t8_h;
7066 dx_hand_model_B.t33_tmp = dx_hand_model_B.t9_tmp * dx_hand_model_B.Filt4_c[2];
7067 dx_hand_model_B.t33_p = dx_hand_model_B.t33_tmp * 2.0F;
7068 dx_hand_model_B.t34_tmp = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Filt4_c[2];
7069 dx_hand_model_B.t34_a = dx_hand_model_B.t34_tmp * 2.0F;
7070 dx_hand_model_B.t1256_tmp = dx_hand_model_B.Filt4_c[2] *
7071 dx_hand_model_B.Sum_nf;
7072 dx_hand_model_B.t25_h = ((((((((dx_hand_model_B.t749 +
7073 dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)
7074 + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -
7075 dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a;
7076 dx_hand_model_B.t10_tmp = dx_hand_model_B.t25_h + dx_hand_model_B.t1256_tmp;
7077 dx_hand_model_B.t11_e = dx_hand_model_B.DataTypeConversion5_n *
7078 dx_hand_model_B.DataTypeConversion5_n;
7079 dx_hand_model_B.t12_o = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;
7080 dx_hand_model_B.t13_b = dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf;
7081 dx_hand_model_B.t14_a = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;
7082 dx_hand_model_B.t15_g = dx_hand_model_B.t3 * dx_hand_model_B.t3;
7083 dx_hand_model_B.t16_e = dx_hand_model_B.t7 * dx_hand_model_B.t7;
7084 dx_hand_model_B.t17_f = dx_hand_model_B.Switch_i[0] *
7085 dx_hand_model_B.Switch_i[0];
7086 dx_hand_model_B.t18_h = dx_hand_model_B.Switch_i[2] *
7087 dx_hand_model_B.Switch_i[2];
7088 dx_hand_model_B.t19_e = dx_hand_model_B.Switch_i[1] *
7089 dx_hand_model_B.Switch_i[1];
7090 dx_hand_model_B.t20_c = dx_hand_model_B.t8_h * dx_hand_model_B.t8_h;
7091 dx_hand_model_B.t24_a = 1.0F / (dx_hand_model_B.t9_l * dx_hand_model_B.t9_l);
7092 dx_hand_model_B.t1251 = dx_hand_model_B.DataTypeConversion5_n *
7093 dx_hand_model_B.t3;
7094 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t =
7095 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t7;
7096 dx_hand_model_B.t1261 = dx_hand_model_B.t3 * dx_hand_model_B.t7;
7097 dx_hand_model_B.t1212 = dx_hand_model_B.DataTypeConversion5_n *
7098 dx_hand_model_B.t4_o;
7099 dx_hand_model_B.t1328 = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;
7100 dx_hand_model_B.t739 = dx_hand_model_B.DataTypeConversion5_n *
7101 dx_hand_model_B.t1313;
7102 dx_hand_model_B.t750 = dx_hand_model_B.t3 * dx_hand_model_B.t1313;
7103 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o =
7104 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.Sum_nf;
7105 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;
7106 dx_hand_model_B.t752 = dx_hand_model_B.t4_o * dx_hand_model_B.t7;
7107 dx_hand_model_B.t754 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;
7108 dx_hand_model_B.t755 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;
7109 dx_hand_model_B.t761_re = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;
7110 dx_hand_model_B.t757_re = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;
7111 dx_hand_model_B.t760_re = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;
7112 dx_hand_model_B.t758_re = (real32_T)dx_hand_model_B.RateTransition_nk *
7113 dx_hand_model_B.Switch_i[0];
7114 dx_hand_model_B.t759_re = (real32_T)dx_hand_model_B.RateTransition_mpf *
7115 dx_hand_model_B.Switch_i[1];
7116 dx_hand_model_B.t762_re = (real32_T)dx_hand_model_B.RateTransition_ko *
7117 dx_hand_model_B.Switch_i[2];
7118 dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.Filt4_c[0] *
7119 dx_hand_model_B.Switch_i[0];
7120 dx_hand_model_B.t804 = dx_hand_model_B.JTcomp_idx_3_tmp_c *
7121 dx_hand_model_B.DataTypeConversion5_n;
7122 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.Filt4_c[1] *
7123 dx_hand_model_B.Switch_i[1];
7124 dx_hand_model_B.t803 = dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.t3;
7125 dx_hand_model_B.t835_re = dx_hand_model_B.Filt4_c[2] *
7126 dx_hand_model_B.Switch_i[2];
7127 dx_hand_model_B.t763_re = (real32_T)dx_hand_model_B.RateTransition_nk *
7128 (real32_T)dx_hand_model_B.RateTransition_mpf;
7129 dx_hand_model_B.t10_j = dx_hand_model_B.t763_re * dx_hand_model_B.Filt4_c[0];
7130 dx_hand_model_B.t802 = dx_hand_model_B.t10_j * dx_hand_model_B.Switch_i[1];
7131 dx_hand_model_B.t767_re = dx_hand_model_B.t763_re * dx_hand_model_B.Filt4_c[1];
7132 dx_hand_model_B.t790 = dx_hand_model_B.t767_re * dx_hand_model_B.Switch_i[0];
7133 dx_hand_model_B.t765_re = (real32_T)dx_hand_model_B.RateTransition_nk *
7134 (real32_T)dx_hand_model_B.RateTransition_ko;
7135 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.t765_re *
7136 dx_hand_model_B.Filt4_c[0];
7137 dx_hand_model_B.t822 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
7138 dx_hand_model_B.Switch_i[2];
7139 dx_hand_model_B.t1309 = dx_hand_model_B.t765_re * dx_hand_model_B.Filt4_c[2];
7140 dx_hand_model_B.t836_re = dx_hand_model_B.t1309 * dx_hand_model_B.Switch_i[0];
7141 dx_hand_model_B.t764_re = (real32_T)dx_hand_model_B.RateTransition_mpf *
7142 (real32_T)dx_hand_model_B.RateTransition_ko;
7143 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t764_re *
7144 dx_hand_model_B.Filt4_c[1];
7145 dx_hand_model_B.t768_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
7146 dx_hand_model_B.Switch_i[2];
7147 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t764_re *
7148 dx_hand_model_B.Filt4_c[2];
7149 dx_hand_model_B.t769_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *
7150 dx_hand_model_B.Switch_i[1];
7151 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.t9_tmp *
7152 dx_hand_model_B.Filt4_c[1];
7153 dx_hand_model_B.t773_re = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
7154 dx_hand_model_B.Switch_i[1];
7155 dx_hand_model_B.t766_re = (real32_T)dx_hand_model_B.RateTransition_mpf *
7156 dx_hand_model_B.Filt4_c[0];
7157 dx_hand_model_B.t794 = dx_hand_model_B.t766_re * dx_hand_model_B.Filt4_c[1];
7158 dx_hand_model_B.t771_re = dx_hand_model_B.t794 * dx_hand_model_B.Switch_i[0];
7159 dx_hand_model_B.t823 = dx_hand_model_B.t33_tmp * dx_hand_model_B.Switch_i[2];
7160 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.t9_tmp *
7161 dx_hand_model_B.t3;
7162 dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.t9_tmp_n *
7163 dx_hand_model_B.DataTypeConversion5_n;
7164 dx_hand_model_B.t837_re = dx_hand_model_B.t9_tmp_d *
7165 dx_hand_model_B.DataTypeConversion5_n;
7166 dx_hand_model_B.t838_re = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t3;
7167 dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.t758_re * dx_hand_model_B.t3;
7168 dx_hand_model_B.t824 = dx_hand_model_B.t759_re *
7169 dx_hand_model_B.DataTypeConversion5_n;
7170 dx_hand_model_B.t839_re = dx_hand_model_B.t762_re *
7171 dx_hand_model_B.DataTypeConversion5_n;
7172 dx_hand_model_B.t825 = dx_hand_model_B.t762_re * dx_hand_model_B.t3;
7173 dx_hand_model_B.t826_re = dx_hand_model_B.t758_re * dx_hand_model_B.t4_o;
7174 dx_hand_model_B.t840_re = dx_hand_model_B.t9_tmp * dx_hand_model_B.Sum_nf;
7175 dx_hand_model_B.t1226 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Sum_nf;
7176 dx_hand_model_B.t841_re = dx_hand_model_B.t759_re * dx_hand_model_B.t1313;
7177 dx_hand_model_B.t827_re = dx_hand_model_B.DataTypeConversion5_n *
7178 dx_hand_model_B.t13_b;
7179 dx_hand_model_B.t828_re = dx_hand_model_B.t3 * dx_hand_model_B.t13_b;
7180 dx_hand_model_B.t829_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t11_e;
7181 dx_hand_model_B.t830_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t15_g;
7182 dx_hand_model_B.t842_re = dx_hand_model_B.t836_re * dx_hand_model_B.Sum_nf;
7183 dx_hand_model_B.t831_re = dx_hand_model_B.t836_re *
7184 dx_hand_model_B.DataTypeConversion5_n;
7185 dx_hand_model_B.t843_re = dx_hand_model_B.t769_re * dx_hand_model_B.Sum_nf;
7186 dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.t769_re * dx_hand_model_B.t3;
7187 dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t823 * dx_hand_model_B.t4_o;
7188 dx_hand_model_B.tmp_tmp_jw = dx_hand_model_B.t837_re * dx_hand_model_B.t4_o;
7189 dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t838_re * dx_hand_model_B.t1313;
7190 dx_hand_model_B.tmp_tmp_ob = dx_hand_model_B.t835_re * dx_hand_model_B.t4_o;
7191 dx_hand_model_B.t775 = dx_hand_model_B.t835_re * dx_hand_model_B.t1313;
7192 dx_hand_model_B.t778 = dx_hand_model_B.t1251 * dx_hand_model_B.t4_o;
7193 dx_hand_model_B.t797 = dx_hand_model_B.t1251 * dx_hand_model_B.t1313;
7194 dx_hand_model_B.t796 = dx_hand_model_B.t1212 * dx_hand_model_B.Sum_nf;
7195 dx_hand_model_B.t770_re = dx_hand_model_B.t739 * dx_hand_model_B.Sum_nf;
7196 dx_hand_model_B.t772_re = dx_hand_model_B.t1328 * dx_hand_model_B.Sum_nf;
7197 dx_hand_model_B.t774 = dx_hand_model_B.t750 * dx_hand_model_B.Sum_nf;
7198 dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf;
7199 dx_hand_model_B.t777 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
7200 dx_hand_model_B.t7;
7201 dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t7;
7202 dx_hand_model_B.tmp_tmp_d4 = dx_hand_model_B.t1212 * dx_hand_model_B.t1313;
7203 dx_hand_model_B.tmp_tmp_ey = dx_hand_model_B.t1328 * dx_hand_model_B.t1313;
7204 dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.t757_re * dx_hand_model_B.t7;
7205 dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.t760_re * dx_hand_model_B.t7;
7206 dx_hand_model_B.t1248 = dx_hand_model_B.t802 * dx_hand_model_B.t4_o;
7207 dx_hand_model_B.t1250 = dx_hand_model_B.t790 * dx_hand_model_B.t1313;
7208 dx_hand_model_B.t1252 = dx_hand_model_B.t802 * dx_hand_model_B.t3;
7209 dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.t790 * dx_hand_model_B.t3;
7210 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t802 *
7211 dx_hand_model_B.DataTypeConversion5_n;
7212 dx_hand_model_B.t1253 = dx_hand_model_B.t790 *
7213 dx_hand_model_B.DataTypeConversion5_n;
7214 dx_hand_model_B.t1254 = dx_hand_model_B.t822 * dx_hand_model_B.t4_o;
7215 dx_hand_model_B.t1255 = dx_hand_model_B.t822 *
7216 dx_hand_model_B.DataTypeConversion5_n;
7217 dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.t768_re * dx_hand_model_B.t1313;
7218 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t768_re *
7219 dx_hand_model_B.t3;
7220 dx_hand_model_B.t1312 = dx_hand_model_B.t773_re * dx_hand_model_B.t1313;
7221 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t773_re * dx_hand_model_B.t4_o;
7222 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t771_re *
7223 dx_hand_model_B.t1313;
7224 dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t771_re * dx_hand_model_B.t4_o;
7225 dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t773_re *
7226 dx_hand_model_B.DataTypeConversion5_n;
7227 dx_hand_model_B.t819 = dx_hand_model_B.t771_re * dx_hand_model_B.t3;
7228 dx_hand_model_B.t818 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
7229 dx_hand_model_B.t1313;
7230 dx_hand_model_B.t817 = dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t4_o;
7231 dx_hand_model_B.t814 = dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t4_o;
7232 dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t824 *
7233 dx_hand_model_B.t1313;
7234 dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t804 *
7235 dx_hand_model_B.t1313;
7236 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.t803 *
7237 dx_hand_model_B.t4_o;
7238 dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t1212 * dx_hand_model_B.t7;
7239 dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t750 * dx_hand_model_B.t7;
7240 dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t761_re * dx_hand_model_B.t7;
7241 dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t840_re * dx_hand_model_B.t7;
7242 dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t1226 * dx_hand_model_B.t7;
7243 dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t826_re * dx_hand_model_B.t7;
7244 dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.t841_re * dx_hand_model_B.t7;
7245 dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.t839_re * dx_hand_model_B.Sum_nf;
7246 dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.t825 * dx_hand_model_B.Sum_nf;
7247 dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.t804 * dx_hand_model_B.Sum_nf;
7248 dx_hand_model_B.t987_re = dx_hand_model_B.t803 * dx_hand_model_B.Sum_nf;
7249 dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_ob * dx_hand_model_B.t7;
7250 dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t775 * dx_hand_model_B.t7;
7251 dx_hand_model_B.t833_re = dx_hand_model_B.t823 * dx_hand_model_B.Sum_nf;
7252 dx_hand_model_B.tmp_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_ko *
7253 dx_hand_model_B.Filt4_c[0];
7254 dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp *
7255 dx_hand_model_B.Filt4_c[2];
7256 dx_hand_model_B.t821 = dx_hand_model_B.tmp_tmp_tmp_g *
7257 dx_hand_model_B.Switch_i[0];
7258 dx_hand_model_B.t834_re = dx_hand_model_B.t34_tmp * dx_hand_model_B.Switch_i[2];
7259 dx_hand_model_B.tmp_tmp_tmp_p = (real32_T)dx_hand_model_B.RateTransition_ko *
7260 dx_hand_model_B.Filt4_c[1];
7261 dx_hand_model_B.tmp_tmp_tmp_kn = dx_hand_model_B.tmp_tmp_tmp_p *
7262 dx_hand_model_B.Filt4_c[2];
7263 dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.tmp_tmp_tmp_kn *
7264 dx_hand_model_B.Switch_i[1];
7265 dx_hand_model_B.tmp_tmp_tmp_ok = (real32_T)dx_hand_model_B.RateTransition_nk *
7266 dx_hand_model_B.Filt4_c[1];
7267 dx_hand_model_B.tmp_tmp_tmp_ca = dx_hand_model_B.tmp_tmp_tmp_ok *
7268 dx_hand_model_B.Switch_i[0];
7269 dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.tmp_tmp_tmp_ca *
7270 dx_hand_model_B.Switch_i[1];
7271 dx_hand_model_B.tmp_tmp_tmp_ji = dx_hand_model_B.t766_re *
7272 dx_hand_model_B.Switch_i[0];
7273 dx_hand_model_B.t820 = dx_hand_model_B.tmp_tmp_tmp_ji *
7274 dx_hand_model_B.Switch_i[1];
7275 dx_hand_model_B.tmp_tmp_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_nk *
7276 dx_hand_model_B.Filt4_c[2];
7277 dx_hand_model_B.tmp_tmp_tmp_o = dx_hand_model_B.tmp_tmp_tmp_tmp *
7278 dx_hand_model_B.Switch_i[0];
7279 dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.tmp_tmp_tmp_o *
7280 dx_hand_model_B.Switch_i[2];
7281 dx_hand_model_B.tmp_tmp_tmp_py = dx_hand_model_B.tmp_tmp_tmp *
7282 dx_hand_model_B.Switch_i[0];
7283 dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.tmp_tmp_tmp_py *
7284 dx_hand_model_B.Switch_i[2];
7285 dx_hand_model_B.tmp_tmp_tmp_tmp_a = (real32_T)
7286 dx_hand_model_B.RateTransition_mpf * dx_hand_model_B.Filt4_c[2];
7287 dx_hand_model_B.tmp_tmp_tmp_om = dx_hand_model_B.tmp_tmp_tmp_tmp_a *
7288 dx_hand_model_B.Switch_i[1];
7289 dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.tmp_tmp_tmp_om *
7290 dx_hand_model_B.Switch_i[2];
7291 dx_hand_model_B.tmp_tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_p *
7292 dx_hand_model_B.Switch_i[1];
7293 dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.tmp_tmp_tmp_cm *
7294 dx_hand_model_B.Switch_i[2];
7295 dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t10_j * dx_hand_model_B.Filt4_c[1];
7296 dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
7297 dx_hand_model_B.Filt4_c[2];
7298 dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
7299 dx_hand_model_B.Filt4_c[2];
7300 dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t763_re * (real32_T)
7301 dx_hand_model_B.RateTransition_ko;
7302 dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_tmp_c *
7303 dx_hand_model_B.Filt4_c[0];
7304 dx_hand_model_B.t815 = dx_hand_model_B.t9_tmp *
7305 dx_hand_model_B.DataTypeConversion5_n;
7306 dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t3;
7307 dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.t9_tmp * dx_hand_model_B.t4_o;
7308 dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1313;
7309 dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t758_re *
7310 dx_hand_model_B.DataTypeConversion5_n;
7311 dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.t759_re * dx_hand_model_B.t3;
7312 dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.JTcomp_idx_3_tmp_i *
7313 dx_hand_model_B.DataTypeConversion5_n;
7314 dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.JTcomp_idx_3_tmp_c *
7315 dx_hand_model_B.t3;
7316 dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t4_o;
7317 dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1313;
7318 dx_hand_model_B.t813 = dx_hand_model_B.t821 * dx_hand_model_B.t4_o;
7319 dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.t823 *
7320 dx_hand_model_B.DataTypeConversion5_n;
7321 dx_hand_model_B.t812 = dx_hand_model_B.t821 * dx_hand_model_B.Sum_nf;
7322 dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.t834_re * dx_hand_model_B.t1313;
7323 dx_hand_model_B.t810 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t1313;
7324 dx_hand_model_B.t808 = dx_hand_model_B.t834_re * dx_hand_model_B.t3;
7325 dx_hand_model_B.t776 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.Sum_nf;
7326 dx_hand_model_B.t779 = dx_hand_model_B.tmp_tmp_fx *
7327 dx_hand_model_B.DataTypeConversion5_n;
7328 dx_hand_model_B.t780 = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t3;
7329 dx_hand_model_B.t781 = dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t7;
7330 dx_hand_model_B.t782 = dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t7;
7331 dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.t837_re * dx_hand_model_B.Sum_nf;
7332 dx_hand_model_B.t785 = dx_hand_model_B.t838_re * dx_hand_model_B.Sum_nf;
7333 dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t815 * dx_hand_model_B.Sum_nf;
7334 dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.tmp_tmp_jp *
7335 dx_hand_model_B.Sum_nf;
7336 dx_hand_model_B.tmp_tmp_kv = dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t7;
7337 dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t7;
7338 dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.tmp_tmp_pr *
7339 dx_hand_model_B.Sum_nf;
7340 dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.JTcomp_idx_3_tmp_c *
7341 dx_hand_model_B.t4_o;
7342 dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_k *
7343 dx_hand_model_B.t7;
7344 dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.t836_re * dx_hand_model_B.t3;
7345 dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.t769_re *
7346 dx_hand_model_B.DataTypeConversion5_n;
7347 dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t836_re * dx_hand_model_B.t1313;
7348 dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.t823 *
7349 dx_hand_model_B.t3;
7350 dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.t821 * dx_hand_model_B.t3;
7351 dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t769_re *
7352 dx_hand_model_B.t4_o;
7353 dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t834_re *
7354 dx_hand_model_B.DataTypeConversion5_n;
7355 dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.tmp_tmp_n *
7356 dx_hand_model_B.DataTypeConversion5_n;
7357 dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t3;
7358 dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.tmp_tmp_fx *
7359 dx_hand_model_B.Sum_nf;
7360 dx_hand_model_B.xD1_tmp = dx_hand_model_B.tmp_tmp_nj *
7361 dx_hand_model_B.DataTypeConversion5_n;
7362 dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.tmp_tmp_nj *
7363 dx_hand_model_B.Sum_nf;
7364 dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.t823 * dx_hand_model_B.t1313;
7365 dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t821 * dx_hand_model_B.t1313;
7366 dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t834_re * dx_hand_model_B.t4_o;
7367 dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t4_o;
7368 dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t4_o;
7369 dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.tmp_tmp_cg *
7370 dx_hand_model_B.t1313;
7371 dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t820 *
7372 dx_hand_model_B.t4_o;
7373 dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.tmp_tmp_cg *
7374 dx_hand_model_B.DataTypeConversion5_n;
7375 dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.t820 * dx_hand_model_B.t3;
7376 dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.tmp_tmp_fx *
7377 dx_hand_model_B.t1313;
7378 dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.tmp_tmp_nj *
7379 dx_hand_model_B.t4_o;
7380 dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t4_o;
7381 dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.tmp_tmp_pm *
7382 dx_hand_model_B.Sum_nf;
7383 dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.tmp_tmp_nj *
7384 dx_hand_model_B.t1313;
7385 dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t1313;
7386 dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.tmp_tmp_k *
7387 dx_hand_model_B.Sum_nf;
7388 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_cq *
7389 dx_hand_model_B.Filt4_c[1];
7390 dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.tmp_tmp_tmp_j *
7391 dx_hand_model_B.Filt4_c[2];
7392 dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.tmp_tmp_tmp_c *
7393 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *
7394 dx_hand_model_B.Switch_i[1];
7395 dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
7396 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1] *
7397 dx_hand_model_B.Switch_i[2];
7398 dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t794 * dx_hand_model_B.Filt4_c[2]
7399 * dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];
7400 dx_hand_model_B.tmp_tmp_tmp_c1 = dx_hand_model_B.tmp_tmp_tmp *
7401 dx_hand_model_B.Filt4_c[1];
7402 dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.tmp_tmp_tmp_c1 *
7403 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *
7404 dx_hand_model_B.Switch_i[1];
7405 dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.t802 * dx_hand_model_B.Sum_nf;
7406 dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.t790 * dx_hand_model_B.Sum_nf;
7407 dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.t822 * dx_hand_model_B.t3;
7408 dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.t768_re *
7409 dx_hand_model_B.DataTypeConversion5_n;
7410 dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.t773_re * dx_hand_model_B.Sum_nf;
7411 dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.t771_re * dx_hand_model_B.Sum_nf;
7412 dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.t822 * dx_hand_model_B.t1313;
7413 dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.t768_re * dx_hand_model_B.t4_o;
7414 dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.t820 *
7415 dx_hand_model_B.DataTypeConversion5_n;
7416 dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t3;
7417 dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.tmp_tmp_cg *
7418 dx_hand_model_B.Sum_nf;
7419 dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.t820 * dx_hand_model_B.Sum_nf;
7420 dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.tmp_tmp_pm *
7421 dx_hand_model_B.DataTypeConversion5_n;
7422 dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t3;
7423 dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.tmp_tmp_k *
7424 dx_hand_model_B.DataTypeConversion5_n;
7425 dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t3;
7426 dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.tmp_tmp_cg *
7427 dx_hand_model_B.t4_o;
7428 dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.t820 * dx_hand_model_B.t1313;
7429 dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.tmp_tmp_pm *
7430 dx_hand_model_B.t1313;
7431 dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t4_o;
7432 dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.t802 * dx_hand_model_B.t7;
7433 dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.t790 * dx_hand_model_B.t7;
7434 dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t7;
7435 dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.t820 * dx_hand_model_B.t7;
7436 dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_cq *
7437 dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Switch_i[2];
7438 dx_hand_model_B.tmp_tmp_tmp_c *= dx_hand_model_B.Filt4_c[1];
7439 dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_tmp_c *
7440 dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];
7441 dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
7442 dx_hand_model_B.t4_o;
7443 dx_hand_model_B.tmp_tmp_mz = dx_hand_model_B.tmp_tmp_m1 *
7444 dx_hand_model_B.t1313;
7445 dx_hand_model_B.tmp_tmp_ez = dx_hand_model_B.t815 * dx_hand_model_B.t1313;
7446 dx_hand_model_B.tmp_tmp_izd = dx_hand_model_B.tmp_tmp_jp *
7447 dx_hand_model_B.t4_o;
7448 dx_hand_model_B.tmp_tmp_ge = dx_hand_model_B.tmp_tmp_pr *
7449 dx_hand_model_B.t1313;
7450 dx_hand_model_B.tmp_tmp_gbr = dx_hand_model_B.tmp_tmp_g4k *
7451 dx_hand_model_B.t4_o;
7452 dx_hand_model_B.tmp_tmp_kt = dx_hand_model_B.tmp_tmp_dx *
7453 dx_hand_model_B.t1313;
7454 dx_hand_model_B.tmp_tmp_ds = dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t4_o;
7455 dx_hand_model_B.tmp_tmp_el = dx_hand_model_B.t834_re * dx_hand_model_B.Sum_nf;
7456 dx_hand_model_B.tmp_tmp_dat = dx_hand_model_B.t821 * dx_hand_model_B.t7;
7457 dx_hand_model_B.tmp_tmp_hs = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t7;
7458 dx_hand_model_B.tmp_tmp_nhy = dx_hand_model_B.t773_re * dx_hand_model_B.t7;
7459 dx_hand_model_B.tmp_tmp_daj = dx_hand_model_B.t771_re * dx_hand_model_B.t7;
7460 dx_hand_model_B.tmp_tmp_bi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t7;
7461 dx_hand_model_B.tmp_tmp_bt = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t7;
7462 dx_hand_model_B.tmp_tmp_g4 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.Sum_nf;
7463 dx_hand_model_B.tmp_tmp_c3 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t7;
7464 dx_hand_model_B.tmp_tmp_if = dx_hand_model_B.t9_tmp * dx_hand_model_B.t7;
7465 dx_hand_model_B.tmp_tmp_lg = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t7;
7466 dx_hand_model_B.tmp_tmp_f1 = dx_hand_model_B.t835_re *
7467 dx_hand_model_B.DataTypeConversion5_n;
7468 dx_hand_model_B.tmp_tmp_db = dx_hand_model_B.t835_re * dx_hand_model_B.t3;
7469 dx_hand_model_B.tmp_tmp_jr = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1313;
7470 dx_hand_model_B.tmp_tmp_i3 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t4_o;
7471 dx_hand_model_B.tmp_tmp_h2 = dx_hand_model_B.t758_re * dx_hand_model_B.t1313;
7472 dx_hand_model_B.tmp_tmp_nm = dx_hand_model_B.t759_re * dx_hand_model_B.t4_o;
7473 dx_hand_model_B.tmp_tmp_ch = dx_hand_model_B.t762_re * dx_hand_model_B.t4_o;
7474 dx_hand_model_B.tmp_tmp_er = dx_hand_model_B.t762_re * dx_hand_model_B.t1313;
7475 dx_hand_model_B.tmp_tmp_tmp_al = dx_hand_model_B.t763_re *
7476 dx_hand_model_B.Switch_i[0];
7477 dx_hand_model_B.tmp_tmp_dd = dx_hand_model_B.tmp_tmp_tmp_al *
7478 dx_hand_model_B.Switch_i[1];
7479 dx_hand_model_B.tmp_tmp_tmp_oc = dx_hand_model_B.t765_re *
7480 dx_hand_model_B.Switch_i[0];
7481 dx_hand_model_B.tmp_tmp_ik = dx_hand_model_B.tmp_tmp_tmp_oc *
7482 dx_hand_model_B.Switch_i[2];
7483 dx_hand_model_B.tmp_tmp_tmp_ol = dx_hand_model_B.t764_re *
7484 dx_hand_model_B.Switch_i[1];
7485 dx_hand_model_B.tmp_tmp_gs = dx_hand_model_B.tmp_tmp_tmp_ol *
7486 dx_hand_model_B.Switch_i[2];
7487 dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.Filt4_c[0] *
7488 dx_hand_model_B.Filt4_c[1];
7489 dx_hand_model_B.tmp_tmp_tmp_d = dx_hand_model_B.tmp_tmp_tmp_o2 *
7490 dx_hand_model_B.Switch_i[0];
7491 dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.tmp_tmp_tmp_d *
7492 dx_hand_model_B.Switch_i[1];
7493 dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.Filt4_c[0] *
7494 dx_hand_model_B.Filt4_c[2];
7495 dx_hand_model_B.tmp_tmp_tmp_h = dx_hand_model_B.tmp_tmp_tmp_tmp_g *
7496 dx_hand_model_B.Switch_i[0];
7497 dx_hand_model_B.tmp_tmp_l0 = dx_hand_model_B.tmp_tmp_tmp_h *
7498 dx_hand_model_B.Switch_i[2];
7499 dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.Filt4_c[1] *
7500 dx_hand_model_B.Filt4_c[2];
7501 dx_hand_model_B.tmp_tmp_tmp_i = dx_hand_model_B.tmp_tmp_tmp_tmp_gy *
7502 dx_hand_model_B.Switch_i[1];
7503 dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.tmp_tmp_tmp_i *
7504 dx_hand_model_B.Switch_i[2];
7505 dx_hand_model_B.tmp_tmp_fq = dx_hand_model_B.tmp_tmp_f1 *
7506 dx_hand_model_B.Sum_nf;
7507 dx_hand_model_B.tmp_tmp_nl = dx_hand_model_B.tmp_tmp_d *
7508 dx_hand_model_B.Sum_nf;
7509 dx_hand_model_B.tmp_tmp_tmp_p5 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
7510 dx_hand_model_B.t1313;
7511 dx_hand_model_B.tmp_tmp_iu = dx_hand_model_B.tmp_tmp_tmp_p5 *
7512 dx_hand_model_B.t7;
7513 dx_hand_model_B.tmp_tmp_i3r = dx_hand_model_B.tmp_tmp_db *
7514 dx_hand_model_B.Sum_nf;
7515 dx_hand_model_B.tmp_tmp_il = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
7516 dx_hand_model_B.Sum_nf;
7517 dx_hand_model_B.tmp_tmp_fa = dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t7;
7518 dx_hand_model_B.tmp_tmp_ji = dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t7;
7519 dx_hand_model_B.tmp_tmp_oo = dx_hand_model_B.tmp_tmp_m1 *
7520 dx_hand_model_B.Sum_nf;
7521 dx_hand_model_B.tmp_tmp_fr = dx_hand_model_B.t804 * dx_hand_model_B.t7;
7522 dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.tmp_tmp_cx *
7523 dx_hand_model_B.Sum_nf;
7524 dx_hand_model_B.tmp_tmp_tmp_j5 = dx_hand_model_B.t758_re *
7525 dx_hand_model_B.Sum_nf;
7526 dx_hand_model_B.tmp_tmp_ln = dx_hand_model_B.tmp_tmp_tmp_j5 *
7527 dx_hand_model_B.t7;
7528 dx_hand_model_B.tmp_tmp_lu = dx_hand_model_B.t824 * dx_hand_model_B.Sum_nf;
7529 dx_hand_model_B.tmp_tmp_gf = dx_hand_model_B.t839_re * dx_hand_model_B.t4_o;
7530 dx_hand_model_B.tmp_tmp_dv = dx_hand_model_B.t839_re * dx_hand_model_B.t1313;
7531 dx_hand_model_B.tmp_tmp_jo = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t3;
7532 dx_hand_model_B.tmp_tmp_f1s = dx_hand_model_B.t825 * dx_hand_model_B.t4_o;
7533 dx_hand_model_B.tmp_tmp_js = dx_hand_model_B.t803 * dx_hand_model_B.t7;
7534 dx_hand_model_B.tmp_tmp_tmp_a = dx_hand_model_B.t759_re *
7535 dx_hand_model_B.Sum_nf;
7536 dx_hand_model_B.tmp_tmp_ho = dx_hand_model_B.tmp_tmp_tmp_a *
7537 dx_hand_model_B.t7;
7538 dx_hand_model_B.tmp_tmp_nu = dx_hand_model_B.t825 * dx_hand_model_B.t1313;
7539 dx_hand_model_B.tmp_tmp_ki = dx_hand_model_B.t826_re * dx_hand_model_B.Sum_nf;
7540 dx_hand_model_B.tmp_tmp_fn = dx_hand_model_B.tmp_tmp_h2 *
7541 dx_hand_model_B.Sum_nf;
7542 dx_hand_model_B.tmp_tmp_jz = dx_hand_model_B.tmp_tmp_g4k *
7543 dx_hand_model_B.Sum_nf;
7544 dx_hand_model_B.tmp_tmp_tmp_jd = dx_hand_model_B.JTcomp_idx_3_tmp_c *
7545 dx_hand_model_B.t1313;
7546 dx_hand_model_B.tmp_tmp_kl = dx_hand_model_B.tmp_tmp_tmp_jd *
7547 dx_hand_model_B.t7;
7548 dx_hand_model_B.tmp_tmp_bn = dx_hand_model_B.tmp_tmp_nm *
7549 dx_hand_model_B.Sum_nf;
7550 dx_hand_model_B.tmp_tmp_hm = dx_hand_model_B.tmp_tmp_dx *
7551 dx_hand_model_B.Sum_nf;
7552 dx_hand_model_B.tmp_tmp_eg = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t4_o;
7553 dx_hand_model_B.tmp_tmp_tmp_jk = dx_hand_model_B.JTcomp_idx_3_tmp_c *
7554 dx_hand_model_B.Sum_nf;
7555 dx_hand_model_B.tmp_tmp_hn = dx_hand_model_B.tmp_tmp_tmp_jk *
7556 dx_hand_model_B.t7;
7557 dx_hand_model_B.tmp_tmp_tmp_m = dx_hand_model_B.JTcomp_idx_3_tmp_i *
7558 dx_hand_model_B.t4_o;
7559 dx_hand_model_B.tmp_tmp_ku = dx_hand_model_B.tmp_tmp_tmp_m *
7560 dx_hand_model_B.t7;
7561 dx_hand_model_B.tmp_tmp_ooe = dx_hand_model_B.t841_re * dx_hand_model_B.Sum_nf;
7562 dx_hand_model_B.tmp_tmp_hw = dx_hand_model_B.tmp_tmp_ch *
7563 dx_hand_model_B.t1313;
7564 dx_hand_model_B.tmp_tmp_iy = dx_hand_model_B.tmp_tmp_f1 *
7565 dx_hand_model_B.t1313;
7566 dx_hand_model_B.tmp_tmp_pl = dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t4_o;
7567 dx_hand_model_B.tmp_tmp_f0 = dx_hand_model_B.tmp_tmp_ch *
7568 dx_hand_model_B.Sum_nf;
7569 dx_hand_model_B.tmp_tmp_nh = dx_hand_model_B.tmp_tmp_db *
7570 dx_hand_model_B.t1313;
7571 dx_hand_model_B.tmp_tmp_tmp_e = dx_hand_model_B.JTcomp_idx_3_tmp_i *
7572 dx_hand_model_B.Sum_nf;
7573 dx_hand_model_B.tmp_tmp_ho4 = dx_hand_model_B.tmp_tmp_tmp_e *
7574 dx_hand_model_B.t7;
7575 dx_hand_model_B.tmp_tmp_hpt = dx_hand_model_B.tmp_tmp_er *
7576 dx_hand_model_B.Sum_nf;
7577 dx_hand_model_B.tmp_tmp_f4 = dx_hand_model_B.tmp_tmp_oy *
7578 dx_hand_model_B.Sum_nf;
7579 dx_hand_model_B.t26_m = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.Sum_nf;
7580 dx_hand_model_B.tmp_tmp_ic = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t4_o;
7581 dx_hand_model_B.tmp_tmp_h5 = dx_hand_model_B.tmp_tmp_oy *
7582 dx_hand_model_B.DataTypeConversion5_n;
7583 dx_hand_model_B.tmp_tmp_mg = dx_hand_model_B.tmp_tmp_gg *
7584 dx_hand_model_B.t1313;
7585 dx_hand_model_B.tmp_tmp_gm = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t3;
7586 dx_hand_model_B.tmp_tmp_lf = dx_hand_model_B.tmp_tmp_ik *
7587 dx_hand_model_B.DataTypeConversion5_n;
7588 dx_hand_model_B.tmp_tmp_m4 = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t3;
7589 dx_hand_model_B.tmp_tmp_nt = dx_hand_model_B.tmp_tmp_l0 *
7590 dx_hand_model_B.Sum_nf;
7591 dx_hand_model_B.tmp_tmp_gv = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t4_o;
7592 dx_hand_model_B.tmp_tmp_dj = dx_hand_model_B.tmp_tmp_ce *
7593 dx_hand_model_B.Sum_nf;
7594 dx_hand_model_B.tmp_tmp_mq = dx_hand_model_B.tmp_tmp_ce *
7595 dx_hand_model_B.t1313;
7596 dx_hand_model_B.tmp_tmp_e0 = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t3;
7597 dx_hand_model_B.tmp_tmp_j0 = dx_hand_model_B.tmp_tmp_gg *
7598 dx_hand_model_B.DataTypeConversion5_n;
7599 dx_hand_model_B.tmp_tmp_m3r = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t3;
7600 dx_hand_model_B.tmp_tmp_otc = dx_hand_model_B.t837_re * dx_hand_model_B.t1313;
7601 dx_hand_model_B.tmp_tmp_gz = dx_hand_model_B.t838_re * dx_hand_model_B.t4_o;
7602 dx_hand_model_B.tmp_tmp_fto = dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t7;
7603 dx_hand_model_B.tmp_tmp_ci = dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t7;
7604 dx_hand_model_B.tmp_tmp_np5 = dx_hand_model_B.tmp_tmp_n3 *
7605 dx_hand_model_B.t1313;
7606 dx_hand_model_B.tmp_tmp_j0o = dx_hand_model_B.tmp_tmp_n3 *
7607 dx_hand_model_B.t4_o;
7608 dx_hand_model_B.tmp_tmp_lc = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t3;
7609 dx_hand_model_B.tmp_tmp_phi = dx_hand_model_B.tmp_tmp_n3 *
7610 dx_hand_model_B.DataTypeConversion5_n;
7611 dx_hand_model_B.tmp_tmp_n3e = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t3;
7612 dx_hand_model_B.tmp_tmp_fni = dx_hand_model_B.tmp_tmp_dd *
7613 dx_hand_model_B.DataTypeConversion5_n;
7614 dx_hand_model_B.tmp_tmp_fxv = dx_hand_model_B.tmp_tmp_nn *
7615 dx_hand_model_B.t1313;
7616 dx_hand_model_B.tmp_tmp_i4x = dx_hand_model_B.tmp_tmp_nn *
7617 dx_hand_model_B.t4_o;
7618 dx_hand_model_B.tmp_tmp_nlw = dx_hand_model_B.t804 * dx_hand_model_B.t3;
7619 dx_hand_model_B.tmp_tmp_fj = dx_hand_model_B.tmp_tmp_cx *
7620 dx_hand_model_B.t1313;
7621 dx_hand_model_B.tmp_tmp_ay = dx_hand_model_B.t824 * dx_hand_model_B.t4_o;
7622 dx_hand_model_B.tmp_tmp_mu = dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t3;
7623 dx_hand_model_B.tmp_tmp_nh4 = dx_hand_model_B.t826_re * dx_hand_model_B.t1313;
7624 dx_hand_model_B.tmp_tmp_d4f = dx_hand_model_B.tmp_tmp_dx *
7625 dx_hand_model_B.t4_o;
7626 dx_hand_model_B.tmp_tmp_ky = dx_hand_model_B.tmp_tmp_g4k *
7627 dx_hand_model_B.t1313;
7628 dx_hand_model_B.tmp_tmp_cl = dx_hand_model_B.tmp_tmp_nm *
7629 dx_hand_model_B.t1313;
7630 dx_hand_model_B.tmp_tmp_nmz = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t7;
7631 dx_hand_model_B.tmp_tmp_ceo = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t7;
7632 dx_hand_model_B.tmp_tmp_nc = dx_hand_model_B.Sum_nf * dx_hand_model_B.t13_b;
7633 dx_hand_model_B.tmp_tmp_ph = dx_hand_model_B.t7 * dx_hand_model_B.t13_b;
7634 dx_hand_model_B.tmp_tmp_dk = dx_hand_model_B.Sum_nf * dx_hand_model_B.t16_e;
7635 dx_hand_model_B.tmp_tmp_oi = dx_hand_model_B.t4_o * dx_hand_model_B.t13_b;
7636 dx_hand_model_B.tmp_tmp_jrs = dx_hand_model_B.t1313 * dx_hand_model_B.t13_b;
7637 dx_hand_model_B.tmp_tmp_c2 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;
7638 dx_hand_model_B.tmp_tmp_hp = dx_hand_model_B.Sum_nf * dx_hand_model_B.t14_a;
7639 dx_hand_model_B.tmp_tmp_a4 = dx_hand_model_B.t762_re * dx_hand_model_B.t8_h;
7640 dx_hand_model_B.tmp_tmp_ow = dx_hand_model_B.t835_re * dx_hand_model_B.t8_h;
7641 dx_hand_model_B.tmp_tmp_l4 = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t8_h;
7642 dx_hand_model_B.tmp_tmp_k1 = dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t8_h;
7643 dx_hand_model_B.tmp_tmp_a0 = dx_hand_model_B.t761_re * dx_hand_model_B.Sum_nf;
7644 dx_hand_model_B.tmp_tmp_d42 = dx_hand_model_B.t837_re * dx_hand_model_B.t8_h;
7645 dx_hand_model_B.tmp_tmp_cf = dx_hand_model_B.t838_re * dx_hand_model_B.t8_h;
7646 dx_hand_model_B.tmp_tmp_av = dx_hand_model_B.t840_re * dx_hand_model_B.t8_h;
7647 dx_hand_model_B.tmp_tmp_jw4 = dx_hand_model_B.t1226 * dx_hand_model_B.t8_h;
7648 dx_hand_model_B.tmp_tmp_cs = dx_hand_model_B.tmp_tmp_o30 *
7649 dx_hand_model_B.t8_h;
7650 dx_hand_model_B.tmp_tmp_ew = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t8_h;
7651 dx_hand_model_B.tmp_tmp_fd = dx_hand_model_B.t822 * dx_hand_model_B.Sum_nf;
7652 dx_hand_model_B.tmp_tmp_ga = dx_hand_model_B.tmp_tmp_n3 *
7653 dx_hand_model_B.Sum_nf;
7654 dx_hand_model_B.tmp_tmp_g3 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
7655 dx_hand_model_B.Filt4_c[1];
7656 dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.t764_re *
7657 dx_hand_model_B.Filt4_c[0];
7658 dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_tmp_eb *
7659 dx_hand_model_B.Filt4_c[1];
7660 dx_hand_model_B.tmp_tmp_po = dx_hand_model_B.tmp_tmp_oy *
7661 dx_hand_model_B.t1313;
7662 dx_hand_model_B.tmp_tmp_ly = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t4_o;
7663 dx_hand_model_B.tmp_tmp_ld = dx_hand_model_B.t836_re * dx_hand_model_B.t4_o;
7664 dx_hand_model_B.tmp_tmp_hb = dx_hand_model_B.t821 *
7665 dx_hand_model_B.DataTypeConversion5_n;
7666 dx_hand_model_B.tmp_tmp_cg4 = dx_hand_model_B.t769_re * dx_hand_model_B.t1313;
7667 dx_hand_model_B.tmp_tmp_g0 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t3;
7668 dx_hand_model_B.tmp_tmp_nl2 = dx_hand_model_B.tmp_tmp_ik *
7669 dx_hand_model_B.Sum_nf;
7670 dx_hand_model_B.tmp_tmp_e2 = dx_hand_model_B.tmp_tmp_gs *
7671 dx_hand_model_B.Sum_nf;
7672 dx_hand_model_B.tmp_tmp_by = dx_hand_model_B.tmp_tmp_l0 *
7673 dx_hand_model_B.DataTypeConversion5_n;
7674 dx_hand_model_B.tmp_tmp_avh = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t3;
7675 dx_hand_model_B.tmp_tmp_i2 = dx_hand_model_B.tmp_tmp_ce *
7676 dx_hand_model_B.DataTypeConversion5_n;
7677 dx_hand_model_B.tmp_tmp_nqp = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t3;
7678 dx_hand_model_B.tmp_tmp_k3 = dx_hand_model_B.tmp_tmp_l0 *
7679 dx_hand_model_B.t1313;
7680 dx_hand_model_B.tmp_tmp_b0 = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t4_o;
7681 dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_cq *
7682 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1];
7683 dx_hand_model_B.tmp_tmp_iee = dx_hand_model_B.tmp_tmp_tmp_c *
7684 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0];
7685 dx_hand_model_B.tmp_tmp_bjy = dx_hand_model_B.tmp_tmp_n3 *
7686 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[2];
7687 dx_hand_model_B.tmp_tmp_oq = dx_hand_model_B.tmp_tmp_g3 *
7688 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1];
7689 dx_hand_model_B.tmp_tmp_gsm = dx_hand_model_B.tmp_tmp_jzu *
7690 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0];
7691 dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t10_j *
7692 dx_hand_model_B.Filt4_c[2];
7693 dx_hand_model_B.tmp_tmp_ed = dx_hand_model_B.tmp_tmp_tmp_c *
7694 dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Switch_i[2];
7695 dx_hand_model_B.tmp_tmp_is = dx_hand_model_B.tmp_tmp_dd *
7696 dx_hand_model_B.Sum_nf;
7697 dx_hand_model_B.tmp_tmp_m5 = dx_hand_model_B.tmp_tmp_gs *
7698 dx_hand_model_B.DataTypeConversion5_n;
7699 dx_hand_model_B.tmp_tmp_dl = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t4_o;
7700 dx_hand_model_B.tmp_tmp_j4 = dx_hand_model_B.tmp_tmp_ik *
7701 dx_hand_model_B.t1313;
7702 dx_hand_model_B.tmp_tmp_pe = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t4_o;
7703 dx_hand_model_B.tmp_tmp_b4 = dx_hand_model_B.tmp_tmp_gs *
7704 dx_hand_model_B.t1313;
7705 dx_hand_model_B.tmp_tmp_pn1 = dx_hand_model_B.tmp_tmp_nn *
7706 dx_hand_model_B.Sum_nf;
7707 dx_hand_model_B.tmp_tmp_jkh = dx_hand_model_B.tmp_tmp_tmp_j *
7708 dx_hand_model_B.Switch_i[2];
7709 dx_hand_model_B.tmp_tmp_ko = dx_hand_model_B.t823 * dx_hand_model_B.t7;
7710 dx_hand_model_B.tmp_tmp_cg1 = dx_hand_model_B.t768_re * dx_hand_model_B.Sum_nf;
7711 dx_hand_model_B.tmp_tmp_j11 = dx_hand_model_B.t834_re * dx_hand_model_B.t7;
7712 dx_hand_model_B.tmp_tmp_an = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t7;
7713 dx_hand_model_B.tmp_tmp_aq = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t7;
7714 dx_hand_model_B.tmp_tmp_lgb = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t7;
7715 dx_hand_model_B.tmp_tmp_kb = dx_hand_model_B.t7 * dx_hand_model_B.t8_h;
7716 dx_hand_model_B.tmp_tmp_dr = dx_hand_model_B.Sum_nf * dx_hand_model_B.t8_h;
7717 dx_hand_model_B.tmp_tmp_np = dx_hand_model_B.t8_h * dx_hand_model_B.t13_b;
7718 dx_hand_model_B.tmp_tmp_hzv = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t13_b;
7719 dx_hand_model_B.tmp_tmp_iq = dx_hand_model_B.t835_re * dx_hand_model_B.Sum_nf;
7720 dx_hand_model_B.tmp_tmp_hj = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
7721 dx_hand_model_B.t8_h;
7722 dx_hand_model_B.tmp_tmp_pn = dx_hand_model_B.xD1_tmp_tmp *
7723 dx_hand_model_B.t8_h;
7724 dx_hand_model_B.tmp_tmp_nk = dx_hand_model_B.t755 * dx_hand_model_B.t8_h;
7725 dx_hand_model_B.tmp_tmp_jza = dx_hand_model_B.t757_re * dx_hand_model_B.t8_h;
7726 dx_hand_model_B.tmp_tmp_ot = dx_hand_model_B.t760_re * dx_hand_model_B.t8_h;
7727 dx_hand_model_B.tmp_tmp_bj = dx_hand_model_B.t9_tmp * dx_hand_model_B.t13_b;
7728 dx_hand_model_B.tmp_tmp_i4 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t13_b;
7729 dx_hand_model_B.tmp_tmp_ng = dx_hand_model_B.t762_re * dx_hand_model_B.Sum_nf;
7730 dx_hand_model_B.tmp_tmp_ie = dx_hand_model_B.JTcomp_idx_3_tmp_c *
7731 dx_hand_model_B.t7;
7732 dx_hand_model_B.tmp_tmp_p3 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
7733 dx_hand_model_B.t7;
7734 dx_hand_model_B.tmp_tmp_gb = dx_hand_model_B.tmp_tmp_kn *
7735 dx_hand_model_B.Sum_nf;
7736 dx_hand_model_B.tmp_tmp_ca = dx_hand_model_B.tmp_tmp_o30 *
7737 dx_hand_model_B.Sum_nf;
7738 dx_hand_model_B.tmp_tmp_pd = dx_hand_model_B.tmp_tmp_b *
7739 dx_hand_model_B.Sum_nf;
7740 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.t767_re *
7741 dx_hand_model_B.Filt4_c[2];
7742 dx_hand_model_B.tmp_tmp_in = dx_hand_model_B.tmp_tmp_tmp_j *
7743 dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];
7744 dx_hand_model_B.tmp_tmp_n0 = dx_hand_model_B.tmp_tmp_g3 *
7745 dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Switch_i[2];
7746 dx_hand_model_B.tmp_tmp_izy = dx_hand_model_B.tmp_tmp_jzu *
7747 dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];
7748 dx_hand_model_B.tmp_tmp_gr = dx_hand_model_B.tmp_tmp_mx *
7749 dx_hand_model_B.Sum_nf;
7750 dx_hand_model_B.tmp_tmp_gu = dx_hand_model_B.tmp_tmp_jr *
7751 dx_hand_model_B.Sum_nf;
7752 dx_hand_model_B.tmp_tmp_chk = dx_hand_model_B.tmp_tmp_i3 *
7753 dx_hand_model_B.Sum_nf;
7754 dx_hand_model_B.tmp_tmp_ih = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t8_h;
7755 dx_hand_model_B.tmp_tmp_no = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t8_h;
7756 dx_hand_model_B.tmp_tmp_fa5 = dx_hand_model_B.t790 * dx_hand_model_B.t4_o;
7757 dx_hand_model_B.tmp_tmp_eu = dx_hand_model_B.t771_re *
7758 dx_hand_model_B.DataTypeConversion5_n;
7759 dx_hand_model_B.tmp_tmp_inq = dx_hand_model_B.t802 * dx_hand_model_B.t1313;
7760 dx_hand_model_B.tmp_tmp_a0m = dx_hand_model_B.t773_re * dx_hand_model_B.t3;
7761 dx_hand_model_B.tmp_tmp_ldg = dx_hand_model_B.tmp_tmp_dd *
7762 dx_hand_model_B.t4_o;
7763 dx_hand_model_B.tmp_tmp_aiu = dx_hand_model_B.tmp_tmp_dd *
7764 dx_hand_model_B.t1313;
7765 dx_hand_model_B.tmp_tmp_iyd = dx_hand_model_B.tmp_tmp_nn *
7766 dx_hand_model_B.DataTypeConversion5_n;
7767 dx_hand_model_B.tmp_tmp_ok = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t3;
7768 dx_hand_model_B.tmp_tmp_b4z = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t7;
7769 dx_hand_model_B.tmp_tmp_tmp_b = dx_hand_model_B.t765_re *
7770 dx_hand_model_B.Filt4_c[1];
7771 dx_hand_model_B.tmp_tmp_i0 = dx_hand_model_B.tmp_tmp_tmp_b *
7772 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *
7773 dx_hand_model_B.Switch_i[1];
7774 dx_hand_model_B.tmp_tmp_lgo = dx_hand_model_B.tmp_tmp_tmp_eb *
7775 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *
7776 dx_hand_model_B.Switch_i[1];
7777 dx_hand_model_B.t1212 = 1.0F /
7778 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
7779 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
7780 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
7781 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t812
7782 * 2.0F +
7783 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
7784 ((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n
7785 * dx_hand_model_B.t14_a + dx_hand_model_B.t3 * dx_hand_model_B.t12_o) +
7786 dx_hand_model_B.t1313 * dx_hand_model_B.t11_e) + dx_hand_model_B.t4_o *
7787 dx_hand_model_B.t15_g) + dx_hand_model_B.t827_re) + dx_hand_model_B.t829_re)
7788 + dx_hand_model_B.t7 * dx_hand_model_B.t12_o) + dx_hand_model_B.t4_o *
7789 dx_hand_model_B.t16_e) + dx_hand_model_B.t828_re) + dx_hand_model_B.t7 *
7790 dx_hand_model_B.t14_a) + dx_hand_model_B.t830_re) + dx_hand_model_B.t1313 *
7791 dx_hand_model_B.t16_e) + dx_hand_model_B.t11_e * dx_hand_model_B.t19_e) +
7792 dx_hand_model_B.t15_g * dx_hand_model_B.t17_f) + dx_hand_model_B.t11_e *
7793 dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e * dx_hand_model_B.t17_f) +
7794 dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e *
7795 dx_hand_model_B.t19_e) + dx_hand_model_B.t12_o * dx_hand_model_B.t19_e) +
7796 dx_hand_model_B.t14_a * dx_hand_model_B.t17_f) + dx_hand_model_B.t12_o *
7797 dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b * dx_hand_model_B.t17_f) +
7798 dx_hand_model_B.t14_a * dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b *
7799 dx_hand_model_B.t19_e) + dx_hand_model_B.t778) + dx_hand_model_B.t797) +
7800 dx_hand_model_B.tmp_tmp_dn) + dx_hand_model_B.tmp_tmp_fc * 2.0F) +
7801 dx_hand_model_B.t739 * dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t1328 *
7802 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t777) +
7803 dx_hand_model_B.xD1_tmp_tmp_k) + dx_hand_model_B.tmp_tmp_al) +
7804 dx_hand_model_B.t1251 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 *
7805 dx_hand_model_B.t19_e) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
7806 dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 * dx_hand_model_B.t18_h *
7807 2.0F) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
7808 dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t1261 *
7809 dx_hand_model_B.t17_f * 2.0F) +
7810 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t18_h) +
7811 dx_hand_model_B.t1261 * dx_hand_model_B.t19_e) + dx_hand_model_B.t1261 *
7812 dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_d4) + dx_hand_model_B.t796)
7813 + dx_hand_model_B.tmp_tmp_ey) + dx_hand_model_B.t770_re * 2.0F) +
7814 dx_hand_model_B.t772_re * 2.0F) + dx_hand_model_B.tmp_tmp_bf * 2.0F) +
7815 dx_hand_model_B.t774) + dx_hand_model_B.tmp_tmp_eh) +
7816 dx_hand_model_B.tmp_tmp_bs) + dx_hand_model_B.t1212 * dx_hand_model_B.t19_e *
7817 6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t17_f) +
7818 dx_hand_model_B.t1328 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1212 *
7819 dx_hand_model_B.t18_h * 6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t19_e)
7820 + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t17_f) +
7821 dx_hand_model_B.t1328 * dx_hand_model_B.t19_e) + dx_hand_model_B.t750 *
7822 dx_hand_model_B.t17_f * 6.0F) + dx_hand_model_B.t752 * dx_hand_model_B.t17_f)
7823 + dx_hand_model_B.t739 * dx_hand_model_B.t18_h * 2.0F) +
7824 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t19_e *
7825 2.0F) + dx_hand_model_B.t1328 * dx_hand_model_B.t18_h * 2.0F) +
7826 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t17_f * 2.0F) +
7827 dx_hand_model_B.t752 * dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t754 *
7828 dx_hand_model_B.t17_f * 2.0F) +
7829 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t18_h) +
7830 dx_hand_model_B.t750 * dx_hand_model_B.t18_h * 6.0F) +
7831 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t19_e) + dx_hand_model_B.t752 *
7832 dx_hand_model_B.t18_h) + dx_hand_model_B.t754 * dx_hand_model_B.t19_e) +
7833 dx_hand_model_B.t755 * dx_hand_model_B.t17_f * 6.0F) +
7834 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t18_h) + dx_hand_model_B.t754 *
7835 dx_hand_model_B.t18_h) + dx_hand_model_B.t755 * dx_hand_model_B.t19_e * 6.0F)
7836 + dx_hand_model_B.t761_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t761_re
7837 * dx_hand_model_B.t19_e) + dx_hand_model_B.t757_re * dx_hand_model_B.t17_f)
7838 + dx_hand_model_B.t761_re * dx_hand_model_B.t18_h * 2.0F) +
7839 dx_hand_model_B.t757_re * dx_hand_model_B.t19_e * 2.0F) +
7840 dx_hand_model_B.t760_re * dx_hand_model_B.t17_f * 2.0F) +
7841 dx_hand_model_B.t757_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t760_re *
7842 dx_hand_model_B.t19_e) + dx_hand_model_B.t760_re * dx_hand_model_B.t18_h) +
7843 dx_hand_model_B.t818 * 4.0F) + dx_hand_model_B.t817 * 4.0F) +
7844 dx_hand_model_B.tmp_tmp_m4e * 4.0F) + dx_hand_model_B.tmp_tmp_jw * 4.0F) +
7845 dx_hand_model_B.tmp_tmp_ktf * 4.0F) + dx_hand_model_B.tmp_tmp_pie * 4.0F) +
7846 dx_hand_model_B.t814 * 4.0F) + dx_hand_model_B.tmp_tmp_a0x * 4.0F) +
7847 dx_hand_model_B.JTcomp_idx_3_tmp_my * 4.0F) + dx_hand_model_B.tmp_tmp_jkx *
7848 4.0F) + dx_hand_model_B.tmp_tmp_kbp * 4.0F) + dx_hand_model_B.tmp_tmp_hj5 *
7849 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j * 4.0F) +
7850 dx_hand_model_B.tmp_tmp_d1 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
7851 4.0F) + dx_hand_model_B.t987_re * 4.0F) + dx_hand_model_B.t832_re * 4.0F) +
7852 dx_hand_model_B.tmp_tmp_j1 * 4.0F) + dx_hand_model_B.t1248 * 6.0F) +
7853 dx_hand_model_B.t1250 * 6.0F) + dx_hand_model_B.t1252 * 2.0F) +
7854 dx_hand_model_B.tmp_tmp_cy * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
7855 2.0F) + dx_hand_model_B.t1253 * 2.0F) + dx_hand_model_B.t1254 * 6.0F) +
7856 dx_hand_model_B.t842_re * 6.0F) + dx_hand_model_B.t822 * dx_hand_model_B.t7 *
7857 2.0F) + dx_hand_model_B.t836_re * dx_hand_model_B.t7 * 2.0F) +
7858 dx_hand_model_B.t1255 * 2.0F) + dx_hand_model_B.t831_re * 2.0F) +
7859 dx_hand_model_B.tmp_tmp_kq * 6.0F) + dx_hand_model_B.t843_re * 6.0F) +
7860 dx_hand_model_B.t768_re * dx_hand_model_B.t7 * 2.0F) +
7861 dx_hand_model_B.t769_re * dx_hand_model_B.t7 * 2.0F) +
7862 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * 2.0F) +
7863 dx_hand_model_B.tmp_tmp_da * 2.0F) + dx_hand_model_B.t1312 * 2.0F) +
7864 dx_hand_model_B.xD1_tmp_o * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
7865 2.0F) + dx_hand_model_B.tmp_tmp_be * 2.0F) + dx_hand_model_B.tmp_tmp_os *
7866 6.0F) + dx_hand_model_B.t819 * 6.0F) + dx_hand_model_B.t833_re * 2.0F) +
7867 dx_hand_model_B.tmp_tmp_c5 * 2.0F)) + dx_hand_model_B.t813 * 2.0F) +
7868 dx_hand_model_B.tmp_tmp_pw * 6.0F) + dx_hand_model_B.tmp_tmp_dat * 6.0F) +
7869 dx_hand_model_B.tmp_tmp_el * 2.0F) + dx_hand_model_B.tmp_tmp_pi * 2.0F) +
7870 dx_hand_model_B.t776 * 2.0F) + dx_hand_model_B.t810 * 2.0F) +
7871 dx_hand_model_B.t808 * 6.0F) + dx_hand_model_B.tmp_tmp_hs * 6.0F) +
7872 dx_hand_model_B.xD1_tmp_tmp_o * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_a *
7873 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_k * 2.0F) +
7874 dx_hand_model_B.JTcomp_idx_3_tmp_p * 2.0F) +
7875 dx_hand_model_B.JTcomp_idx_3_tmp_m * 2.0F) + dx_hand_model_B.tmp_tmp_hc *
7876 2.0F) + dx_hand_model_B.t779 * 2.0F) + dx_hand_model_B.tmp_tmp_pm *
7877 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.xD1_tmp_i * 2.0F) +
7878 dx_hand_model_B.tmp_tmp_li * 2.0F) + dx_hand_model_B.t780 * 2.0F) +
7879 dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t7 * 2.0F) +
7880 dx_hand_model_B.tmp_tmp_o4 * 2.0F) + dx_hand_model_B.tmp_tmp_frj * 2.0F) +
7881 dx_hand_model_B.tmp_tmp_ai * 2.0F) + dx_hand_model_B.tmp_tmp_fnt * 2.0F) +
7882 dx_hand_model_B.tmp_tmp_ji5 * 2.0F) + dx_hand_model_B.tmp_tmp_iv * 2.0F) +
7883 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t17_f * 4.0F) +
7884 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t19_e * 4.0F) +
7885 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t18_h * 8.0F) +
7886 dx_hand_model_B.tmp_tmp_mxd * 6.0F) + dx_hand_model_B.tmp_tmp_of * 6.0F) +
7887 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t17_f * 4.0F) +
7888 dx_hand_model_B.tmp_tmp_nhy * 6.0F) + dx_hand_model_B.tmp_tmp_daj * 6.0F) +
7889 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t19_e * 8.0F) +
7890 dx_hand_model_B.tmp_tmp_jy * 6.0F) + dx_hand_model_B.tmp_tmp_nnx * 6.0F) +
7891 dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 6.0F) +
7892 dx_hand_model_B.JTcomp_idx_3_tmp * 6.0F) + dx_hand_model_B.tmp_tmp_oy *
7893 dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_gg *
7894 dx_hand_model_B.t17_f * 8.0F) + dx_hand_model_B.tmp_tmp_jb * 6.0F) +
7895 dx_hand_model_B.JTcomp_idx_3_tmp_f * 6.0F) +
7896 dx_hand_model_B.JTcomp_idx_3_tmp_h * 6.0F) + dx_hand_model_B.tmp_tmp_he *
7897 6.0F) + dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t19_e * 4.0F) +
7898 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t18_h * 4.0F) +
7899 dx_hand_model_B.tmp_tmp_gi * 6.0F) + dx_hand_model_B.tmp_tmp_om * 6.0F) +
7900 dx_hand_model_B.tmp_tmp_axm * 2.0F) + dx_hand_model_B.tmp_tmp_hi * 2.0F) +
7901 dx_hand_model_B.tmp_tmp_a0g * 6.0F) + dx_hand_model_B.tmp_tmp_hz * 2.0F) +
7902 dx_hand_model_B.tmp_tmp_lua * 2.0F) + dx_hand_model_B.tmp_tmp_bi * 6.0F) +
7903 dx_hand_model_B.xD1_tmp * 2.0F) + dx_hand_model_B.tmp_tmp_jcs * 2.0F) +
7904 dx_hand_model_B.tmp_tmp_ib * 6.0F) + dx_hand_model_B.tmp_tmp_bt * 6.0F) +
7905 dx_hand_model_B.tmp_tmp_jkm * 2.0F) + dx_hand_model_B.tmp_tmp_ee * 2.0F) +
7906 dx_hand_model_B.tmp_tmp_nq * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_m * 2.0F) +
7907 dx_hand_model_B.xD1_tmp_p * 2.0F) + dx_hand_model_B.xD1_tmp_f * 2.0F) +
7908 dx_hand_model_B.tmp_tmp_mid * 6.0F) + dx_hand_model_B.tmp_tmp_ftf * 6.0F) +
7909 dx_hand_model_B.tmp_tmp_hm4 * 2.0F) + dx_hand_model_B.tmp_tmp_mi * 6.0F) +
7910 dx_hand_model_B.tmp_tmp_c2b * 2.0F) + dx_hand_model_B.tmp_tmp_kuk * 2.0F) +
7911 dx_hand_model_B.tmp_tmp_on * 2.0F) + dx_hand_model_B.tmp_tmp_jkf * 2.0F) +
7912 dx_hand_model_B.tmp_tmp_f2 * 6.0F) + dx_hand_model_B.tmp_tmp_iz5 * 2.0F) +
7913 dx_hand_model_B.tmp_tmp_dy * 6.0F) + dx_hand_model_B.tmp_tmp_kg * 6.0F) +
7914 dx_hand_model_B.tmp_tmp_jc * 4.0F) + dx_hand_model_B.tmp_tmp_cqr * 4.0F) +
7915 dx_hand_model_B.tmp_tmp_egf * 4.0F) + dx_hand_model_B.tmp_tmp_ft * 12.0F) +
7916 dx_hand_model_B.tmp_tmp_oc * 4.0F) + dx_hand_model_B.tmp_tmp_hnt * 4.0F) +
7917 dx_hand_model_B.tmp_tmp_gd * 4.0F) - dx_hand_model_B.t758_re *
7918 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *
7919 dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.t758_re *
7920 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t759_re *
7921 dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *
7922 dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *
7923 dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t759_re *
7924 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t762_re *
7925 dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.t835_re *
7926 dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *
7927 dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t762_re *
7928 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t835_re *
7929 dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.tmp_tmp_og * 2.0F) -
7930 dx_hand_model_B.t781 * 2.0F) - dx_hand_model_B.tmp_tmp_mz * 2.0F) -
7931 dx_hand_model_B.t782 * 2.0F) - dx_hand_model_B.tmp_tmp_lm5 * 2.0F) -
7932 dx_hand_model_B.t785 * 2.0F) - dx_hand_model_B.tmp_tmp_ez * 2.0F) -
7933 dx_hand_model_B.xD1_tmp_tmp_i * 2.0F) - dx_hand_model_B.tmp_tmp_izd * 2.0F)
7934 - dx_hand_model_B.xD1_tmp_tmp_c * 2.0F) - dx_hand_model_B.tmp_tmp_kv * 2.0F)
7935 - dx_hand_model_B.tmp_tmp_jk * 2.0F) - dx_hand_model_B.tmp_tmp_kn *
7936 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t19_e
7937 * 4.0F) - dx_hand_model_B.tmp_tmp_ge * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *
7938 2.0F) - dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t18_h * 4.0F) -
7939 dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t17_f * 4.0F) -
7940 dx_hand_model_B.tmp_tmp_kt * 2.0F) - dx_hand_model_B.t815 *
7941 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_fz * 2.0F) -
7942 dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t17_f * 4.0F) -
7943 dx_hand_model_B.tmp_tmp_ds * 2.0F) - dx_hand_model_B.tmp_tmp_cm * 2.0F) -
7944 dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t18_h * 4.0F) -
7945 dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t17_f * 4.0F) -
7946 dx_hand_model_B.tmp_tmp_fq * 2.0F) - dx_hand_model_B.tmp_tmp_jp *
7947 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_nl * 2.0F) -
7948 dx_hand_model_B.tmp_tmp_iu * 2.0F) - dx_hand_model_B.tmp_tmp_c3 *
7949 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ch *
7950 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_g4 *
7951 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_i3r * 2.0F) -
7952 dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t19_e * 4.0F) -
7953 dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t7 * 2.0F) -
7954 dx_hand_model_B.tmp_tmp_il * 2.0F) - dx_hand_model_B.tmp_tmp_fa * 2.0F) -
7955 dx_hand_model_B.tmp_tmp_ji * 2.0F) - dx_hand_model_B.tmp_tmp_oo * 2.0F) -
7956 dx_hand_model_B.tmp_tmp_otc * 2.0F) - dx_hand_model_B.tmp_tmp_gz * 2.0F) -
7957 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t17_f * 2.0F) -
7958 dx_hand_model_B.tmp_tmp_nlw * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
7959 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_fj * 6.0F) -
7960 dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t17_f * 2.0F) -
7961 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t17_f * 2.0F) -
7962 dx_hand_model_B.tmp_tmp_ay * 6.0F) - dx_hand_model_B.tmp_tmp_fr * 2.0F) -
7963 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t18_h * 4.0F) -
7964 dx_hand_model_B.tmp_tmp_oyy * 2.0F) - dx_hand_model_B.tmp_tmp_if *
7965 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fto * 2.0F) -
7966 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t19_e * 2.0F) -
7967 dx_hand_model_B.tmp_tmp_mu * 2.0F) - dx_hand_model_B.tmp_tmp_g4k *
7968 dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_if *
7969 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ln * 6.0F) -
7970 dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t17_f * 4.0F) -
7971 dx_hand_model_B.tmp_tmp_ci * 2.0F) - dx_hand_model_B.tmp_tmp_m1 *
7972 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_lu * 2.0F) -
7973 dx_hand_model_B.t837_re * dx_hand_model_B.t17_f * 2.0F) -
7974 dx_hand_model_B.tmp_tmp_gf * 6.0F) - dx_hand_model_B.tmp_tmp_dx *
7975 dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_lg *
7976 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t837_re *
7977 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_dv * 2.0F) -
7978 dx_hand_model_B.tmp_tmp_jo * 4.0F) - dx_hand_model_B.t838_re *
7979 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_f1s * 2.0F) -
7980 dx_hand_model_B.tmp_tmp_js * 2.0F) - dx_hand_model_B.tmp_tmp_lg *
7981 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ho * 6.0F) -
7982 dx_hand_model_B.t837_re * dx_hand_model_B.t18_h * 2.0F) -
7983 dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t7 * 2.0F) -
7984 dx_hand_model_B.t838_re * dx_hand_model_B.t19_e * 2.0F) -
7985 dx_hand_model_B.tmp_tmp_nu * 6.0F) - dx_hand_model_B.t838_re *
7986 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_db *
7987 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_jr *
7988 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_nh4 * 2.0F) -
7989 dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t19_e * 2.0F) -
7990 dx_hand_model_B.t840_re * dx_hand_model_B.t17_f * 2.0F) -
7991 dx_hand_model_B.tmp_tmp_ki * 2.0F) - dx_hand_model_B.tmp_tmp_i3 *
7992 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_d4f * 6.0F) -
7993 dx_hand_model_B.tmp_tmp_ky * 6.0F) - dx_hand_model_B.tmp_tmp_jr *
7994 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.t840_re *
7995 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fn * 4.0F) -
7996 dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t19_e * 2.0F) -
7997 dx_hand_model_B.tmp_tmp_cl * 2.0F) - dx_hand_model_B.tmp_tmp_jz * 2.0F) -
7998 dx_hand_model_B.tmp_tmp_kl * 2.0F) - dx_hand_model_B.t840_re *
7999 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1226 *
8000 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_i3 *
8001 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_bn * 4.0F) -
8002 dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t17_f * 2.0F) -
8003 dx_hand_model_B.tmp_tmp_hm * 2.0F) - dx_hand_model_B.tmp_tmp_eg * 6.0F) -
8004 dx_hand_model_B.tmp_tmp_hn * 6.0F) - dx_hand_model_B.tmp_tmp_ku * 2.0F) -
8005 dx_hand_model_B.t1226 * dx_hand_model_B.t19_e * 2.0F) -
8006 dx_hand_model_B.tmp_tmp_ooe * 2.0F) - dx_hand_model_B.tmp_tmp_o30 *
8007 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_hw * 4.0F) -
8008 dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t17_f * 4.0F) -
8009 dx_hand_model_B.tmp_tmp_iy * 2.0F) - dx_hand_model_B.tmp_tmp_pl * 2.0F) -
8010 dx_hand_model_B.t1226 * dx_hand_model_B.t18_h * 2.0F) -
8011 dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t18_h * 2.0F) -
8012 dx_hand_model_B.tmp_tmp_f0 * 2.0F) - dx_hand_model_B.tmp_tmp_b *
8013 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_nh * 6.0F) -
8014 dx_hand_model_B.tmp_tmp_ho4 * 6.0F) - dx_hand_model_B.tmp_tmp_b *
8015 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hpt * 2.0F) -
8016 dx_hand_model_B.tmp_tmp_np5 * 2.0F) - dx_hand_model_B.tmp_tmp_j0o * 2.0F) -
8017 dx_hand_model_B.tmp_tmp_lc * 2.0F) - dx_hand_model_B.tmp_tmp_phi * 2.0F) -
8018 dx_hand_model_B.tmp_tmp_f4 * 2.0F) - dx_hand_model_B.tmp_tmp_ic * 2.0F) -
8019 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t7 * 2.0F) -
8020 dx_hand_model_B.tmp_tmp_h5 * 2.0F) - dx_hand_model_B.t26_m * 2.0F) -
8021 dx_hand_model_B.tmp_tmp_mg * 2.0F) - dx_hand_model_B.tmp_tmp_gg *
8022 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_gm * 2.0F) -
8023 dx_hand_model_B.tmp_tmp_n3e * 2.0F) - dx_hand_model_B.tmp_tmp_fni * 2.0F) -
8024 dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t7 * 2.0F) -
8025 dx_hand_model_B.tmp_tmp_lf * 2.0F) - dx_hand_model_B.tmp_tmp_gs *
8026 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_m4 * 2.0F) -
8027 dx_hand_model_B.tmp_tmp_fxv * 2.0F) - dx_hand_model_B.tmp_tmp_i4x * 2.0F) -
8028 dx_hand_model_B.tmp_tmp_nt * 2.0F) - dx_hand_model_B.tmp_tmp_gv * 2.0F) -
8029 dx_hand_model_B.tmp_tmp_dj * 2.0F) - dx_hand_model_B.tmp_tmp_mq * 2.0F) -
8030 dx_hand_model_B.tmp_tmp_nmz * 2.0F) - dx_hand_model_B.tmp_tmp_e0 * 2.0F) -
8031 dx_hand_model_B.tmp_tmp_j0 * 2.0F) - dx_hand_model_B.tmp_tmp_ceo * 2.0F) -
8032 dx_hand_model_B.tmp_tmp_m3r * 2.0F) - dx_hand_model_B.tmp_tmp_m5 * 2.0F) -
8033 dx_hand_model_B.tmp_tmp_ga * 2.0F) - dx_hand_model_B.tmp_tmp_po * 2.0F) -
8034 dx_hand_model_B.tmp_tmp_ly * 2.0F) - dx_hand_model_B.tmp_tmp_fa5 * 2.0F) -
8035 dx_hand_model_B.tmp_tmp_eu * 2.0F) - dx_hand_model_B.tmp_tmp_inq * 2.0F) -
8036 dx_hand_model_B.tmp_tmp_a0m * 2.0F) - dx_hand_model_B.tmp_tmp_ld * 2.0F) -
8037 dx_hand_model_B.tmp_tmp_hb * 2.0F) - dx_hand_model_B.tmp_tmp_fd * 2.0F) -
8038 dx_hand_model_B.tmp_tmp_ko * 2.0F) - dx_hand_model_B.tmp_tmp_cg4 * 2.0F) -
8039 dx_hand_model_B.tmp_tmp_g0 * 2.0F) - dx_hand_model_B.tmp_tmp_cg1 * 2.0F) -
8040 dx_hand_model_B.tmp_tmp_j11 * 2.0F) - dx_hand_model_B.tmp_tmp_ldg * 6.0F) -
8041 dx_hand_model_B.tmp_tmp_aiu * 6.0F) - dx_hand_model_B.tmp_tmp_is * 2.0F) -
8042 dx_hand_model_B.tmp_tmp_dl * 6.0F) - dx_hand_model_B.tmp_tmp_j4 * 2.0F) -
8043 dx_hand_model_B.tmp_tmp_nl2 * 6.0F) - dx_hand_model_B.tmp_tmp_pe * 2.0F) -
8044 dx_hand_model_B.tmp_tmp_b4 * 6.0F) - dx_hand_model_B.tmp_tmp_e2 * 6.0F) -
8045 dx_hand_model_B.tmp_tmp_iyd * 6.0F) - dx_hand_model_B.tmp_tmp_ok * 6.0F) -
8046 dx_hand_model_B.tmp_tmp_by * 6.0F) - dx_hand_model_B.tmp_tmp_b4z * 2.0F) -
8047 dx_hand_model_B.tmp_tmp_avh * 2.0F) - dx_hand_model_B.tmp_tmp_i2 * 2.0F) -
8048 dx_hand_model_B.tmp_tmp_an * 6.0F) -
8049 dx_hand_model_B.tmp_tmp_nqp * 6.0F) -
8050 dx_hand_model_B.tmp_tmp_aq * 6.0F) -
8051 dx_hand_model_B.tmp_tmp_pn1 * 2.0F) -
8052 dx_hand_model_B.tmp_tmp_k3 * 2.0F) -
8053 dx_hand_model_B.tmp_tmp_b0 * 2.0F) -
8054 dx_hand_model_B.tmp_tmp_jkh * 8.0F) - dx_hand_model_B.tmp_tmp_cq
8055 * 8.0F) - dx_hand_model_B.tmp_tmp_iee * 8.0F) -
8056 dx_hand_model_B.tmp_tmp_bjy * 8.0F) - dx_hand_model_B.tmp_tmp_oq *
8057 8.0F) - dx_hand_model_B.tmp_tmp_gsm * 8.0F) -
8058 dx_hand_model_B.tmp_tmp_ed * 4.0F) - dx_hand_model_B.tmp_tmp_in * 4.0F)
8059 - dx_hand_model_B.tmp_tmp_n0 * 4.0F) - dx_hand_model_B.tmp_tmp_i0 * 4.0F)
8060 - dx_hand_model_B.tmp_tmp_izy * 4.0F) - dx_hand_model_B.tmp_tmp_lgo * 4.0F)
8061 * (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8062 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8063 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8064 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8065 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_in
8066 * dx_hand_model_B.t8_h * 4.0F +
8067 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8068 (((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1255 *
8069 dx_hand_model_B.Sum_nf * 2.0F +
8070 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8071 ((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t777 *
8072 dx_hand_model_B.t17_f +
8073 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
8074 (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o
8075 * dx_hand_model_B.t13_b + dx_hand_model_B.t11_e * dx_hand_model_B.t13_b) +
8076 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t13_b) + dx_hand_model_B.t13_b
8077 * dx_hand_model_B.t15_g) + dx_hand_model_B.tmp_tmp_nc *
8078 dx_hand_model_B.t17_f) + dx_hand_model_B.tmp_tmp_nc * dx_hand_model_B.t19_e)
8079 + dx_hand_model_B.t1251 * dx_hand_model_B.t13_b * 2.0F) +
8080 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t13_b) +
8081 dx_hand_model_B.t1261 * dx_hand_model_B.t13_b) + dx_hand_model_B.t1212 *
8082 dx_hand_model_B.t13_b) + dx_hand_model_B.t739 * dx_hand_model_B.t13_b * 2.0F)
8083 + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t14_a) +
8084 dx_hand_model_B.t1328 * dx_hand_model_B.t13_b * 2.0F) +
8085 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t12_o) +
8086 dx_hand_model_B.t760_re * dx_hand_model_B.t11_e) + dx_hand_model_B.t757_re *
8087 dx_hand_model_B.t15_g) + dx_hand_model_B.t750 * dx_hand_model_B.t13_b) +
8088 dx_hand_model_B.t752 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *
8089 dx_hand_model_B.t12_o) + dx_hand_model_B.t757_re * dx_hand_model_B.t16_e) +
8090 dx_hand_model_B.t754 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *
8091 dx_hand_model_B.t14_a) + dx_hand_model_B.t760_re * dx_hand_model_B.t16_e) +
8092 dx_hand_model_B.t827_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t827_re *
8093 dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t828_re *
8094 dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t829_re *
8095 dx_hand_model_B.t19_e) + dx_hand_model_B.t830_re * dx_hand_model_B.t17_f) +
8096 dx_hand_model_B.t827_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t828_re *
8097 dx_hand_model_B.t19_e) + dx_hand_model_B.t829_re * dx_hand_model_B.t18_h) +
8098 dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t17_f * 6.0F) +
8099 dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t17_f) +
8100 dx_hand_model_B.t828_re * dx_hand_model_B.t18_h) +
8101 dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t19_e * 6.0F) +
8102 dx_hand_model_B.t830_re * dx_hand_model_B.t18_h) +
8103 dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t19_e) +
8104 dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t17_f) +
8105 dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t19_e * 2.0F) +
8106 dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t17_f * 2.0F) +
8107 dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t19_e) +
8108 dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t17_f) +
8109 dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t18_h) +
8110 dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t19_e) +
8111 dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t18_h) +
8112 dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t18_h) +
8113 dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t18_h) +
8114 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t20_c) +
8115 dx_hand_model_B.t752 * dx_hand_model_B.t20_c) + dx_hand_model_B.xD1_tmp_tmp *
8116 dx_hand_model_B.t20_c) + dx_hand_model_B.t754 * dx_hand_model_B.t20_c) +
8117 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t18_h *
8118 dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t17_f *
8119 dx_hand_model_B.t20_c) + dx_hand_model_B.t3 * dx_hand_model_B.t18_h *
8120 dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t19_e *
8121 dx_hand_model_B.t20_c) + dx_hand_model_B.t4_o * dx_hand_model_B.t18_h *
8122 dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t17_f *
8123 dx_hand_model_B.t20_c) + dx_hand_model_B.t1313 * dx_hand_model_B.t18_h *
8124 dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t19_e *
8125 dx_hand_model_B.t20_c) + dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t13_b *
8126 4.0F) + dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t13_b * 4.0F) +
8127 dx_hand_model_B.t842_re * dx_hand_model_B.t7 * 2.0F) +
8128 dx_hand_model_B.t831_re * dx_hand_model_B.Sum_nf * 2.0F) +
8129 dx_hand_model_B.t843_re * dx_hand_model_B.t7 * 2.0F) +
8130 dx_hand_model_B.t839_re * dx_hand_model_B.t13_b * 4.0F) +
8131 dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.Sum_nf * 2.0F) +
8132 dx_hand_model_B.t825 * dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.t804 *
8133 dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_c5 *
8134 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t813 *
8135 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_pw *
8136 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t812 * dx_hand_model_B.t7 *
8137 6.0F) + dx_hand_model_B.t803 * dx_hand_model_B.t13_b * 4.0F) +
8138 dx_hand_model_B.tmp_tmp_pi * dx_hand_model_B.Sum_nf * 2.0F) +
8139 dx_hand_model_B.t810 * dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t808
8140 * dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t776 * dx_hand_model_B.t7
8141 * 6.0F) + dx_hand_model_B.t779 * dx_hand_model_B.Sum_nf * 2.0F) +
8142 dx_hand_model_B.t780 * dx_hand_model_B.Sum_nf * 2.0F) +
8143 dx_hand_model_B.t758_re * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b *
8144 4.0F) + dx_hand_model_B.t759_re * dx_hand_model_B.t8_h *
8145 dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_a4 *
8146 dx_hand_model_B.t12_o * 2.0F) + dx_hand_model_B.tmp_tmp_ow *
8147 dx_hand_model_B.t11_e * 2.0F) + dx_hand_model_B.tmp_tmp_a4 *
8148 dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.tmp_tmp_ow *
8149 dx_hand_model_B.t15_g * 2.0F) + dx_hand_model_B.tmp_tmp_jw *
8150 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_pie *
8151 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ob *
8152 dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t775 *
8153 dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t781 *
8154 dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.t782 * dx_hand_model_B.t8_h *
8155 2.0F) + dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t8_h * 2.0F) +
8156 dx_hand_model_B.t785 * dx_hand_model_B.t8_h * 2.0F) +
8157 dx_hand_model_B.xD1_tmp_tmp_i * dx_hand_model_B.t8_h * 2.0F) +
8158 dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t8_h * 2.0F) +
8159 dx_hand_model_B.tmp_tmp_kv * dx_hand_model_B.t8_h * 2.0F) +
8160 dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.t8_h * 2.0F) +
8161 dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8162 4.0F) + dx_hand_model_B.t815 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8163 4.0F) + dx_hand_model_B.tmp_tmp_fz * dx_hand_model_B.t8_h * 2.0F) +
8164 dx_hand_model_B.tmp_tmp_cm * dx_hand_model_B.t8_h * 2.0F) +
8165 dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8166 4.0F) + dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t17_f * 6.0F) +
8167 dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t8_h * 4.0F) +
8168 dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8169 4.0F) + dx_hand_model_B.tmp_tmp_nl * dx_hand_model_B.t8_h * 2.0F) +
8170 dx_hand_model_B.tmp_tmp_iu * dx_hand_model_B.t8_h * 2.0F) +
8171 dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t17_f * 2.0F) +
8172 dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t19_e * 6.0F) +
8173 dx_hand_model_B.tmp_tmp_i3r * dx_hand_model_B.t8_h * 4.0F) +
8174 dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t19_e * 2.0F) +
8175 dx_hand_model_B.t836_re * dx_hand_model_B.t13_b * 6.0F) +
8176 dx_hand_model_B.t769_re * dx_hand_model_B.t13_b * 6.0F) +
8177 dx_hand_model_B.t823 * dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t821 *
8178 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t834_re *
8179 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_n *
8180 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_fx *
8181 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_nj *
8182 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t778 *
8183 dx_hand_model_B.Sum_nf) + dx_hand_model_B.t797 * dx_hand_model_B.Sum_nf) +
8184 dx_hand_model_B.t796 * dx_hand_model_B.t7) + dx_hand_model_B.t770_re *
8185 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t772_re * dx_hand_model_B.t7 *
8186 2.0F) + dx_hand_model_B.t774 * dx_hand_model_B.t7) +
8187 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t17_f) +
8188 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t19_e)) +
8189 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t18_h * 2.0F) +
8190 dx_hand_model_B.t777 * dx_hand_model_B.t19_e * 2.0F) +
8191 dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t17_f * 2.0F) +
8192 dx_hand_model_B.t777 * dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_al *
8193 dx_hand_model_B.t19_e) + dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t18_h)
8194 + dx_hand_model_B.tmp_tmp_d4 * dx_hand_model_B.Sum_nf) +
8195 dx_hand_model_B.tmp_tmp_ey * dx_hand_model_B.Sum_nf) +
8196 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t7 * 2.0F) +
8197 dx_hand_model_B.t796 * dx_hand_model_B.t19_e * 6.0F) +
8198 dx_hand_model_B.t770_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t772_re *
8199 dx_hand_model_B.t17_f) + dx_hand_model_B.t796 * dx_hand_model_B.t18_h * 6.0F)
8200 + dx_hand_model_B.t770_re * dx_hand_model_B.t19_e) + dx_hand_model_B.t772_re
8201 * dx_hand_model_B.t19_e) + dx_hand_model_B.t774 * dx_hand_model_B.t17_f *
8202 6.0F) + dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t17_f) +
8203 dx_hand_model_B.t770_re * dx_hand_model_B.t18_h * 2.0F) +
8204 dx_hand_model_B.t772_re * dx_hand_model_B.t18_h * 2.0F) +
8205 dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t19_e * 2.0F) +
8206 dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t17_f * 2.0F) +
8207 dx_hand_model_B.t774 * dx_hand_model_B.t18_h * 6.0F) +
8208 dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t18_h) +
8209 dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t19_e) +
8210 dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t18_h) +
8211 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t17_f) +
8212 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t19_e) +
8213 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t18_h * 2.0F) +
8214 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t8_h * 2.0F) +
8215 dx_hand_model_B.tmp_tmp_fa * dx_hand_model_B.t8_h * 2.0F) +
8216 dx_hand_model_B.tmp_tmp_ji * dx_hand_model_B.t8_h * 2.0F) +
8217 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t8_h * 2.0F) +
8218 dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t8_h * dx_hand_model_B.t17_f *
8219 2.0F) + dx_hand_model_B.tmp_tmp_fr * dx_hand_model_B.t8_h * 2.0F) +
8220 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t8_h *
8221 dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_oyy *
8222 dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.tmp_tmp_ln *
8223 dx_hand_model_B.t8_h * 4.0F) + dx_hand_model_B.tmp_tmp_m1 *
8224 dx_hand_model_B.t8_h * dx_hand_model_B.t18_h * 4.0F) +
8225 dx_hand_model_B.tmp_tmp_lu * dx_hand_model_B.t8_h * 2.0F) +
8226 dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t17_f * 2.0F) +
8227 dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.t8_h * 6.0F) +
8228 dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t8_h * dx_hand_model_B.t19_e *
8229 2.0F) + dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t19_e * 2.0F) +
8230 dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.t8_h * 2.0F) +
8231 dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.t8_h * 4.0F) +
8232 dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t17_f * 2.0F) +
8233 dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.t8_h * 2.0F) +
8234 dx_hand_model_B.tmp_tmp_js * dx_hand_model_B.t8_h * 2.0F) +
8235 dx_hand_model_B.tmp_tmp_ho * dx_hand_model_B.t8_h * 4.0F) +
8236 dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t18_h * 2.0F) +
8237 dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t19_e * 2.0F) +
8238 dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.t8_h * 6.0F) +
8239 dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t18_h * 2.0F) +
8240 dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t17_f * 2.0F) +
8241 dx_hand_model_B.tmp_tmp_ki * dx_hand_model_B.t8_h * 2.0F) +
8242 dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8243 4.0F) + dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t19_e * 4.0F) +
8244 dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t8_h * 4.0F) +
8245 dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t8_h * 2.0F) +
8246 dx_hand_model_B.tmp_tmp_kl * dx_hand_model_B.t8_h * 2.0F) +
8247 dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t18_h * 4.0F) +
8248 dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t17_f * 4.0F) +
8249 dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8250 4.0F) + dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t8_h * 4.0F) +
8251 dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t17_f * 2.0F) +
8252 dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t8_h * 2.0F) +
8253 dx_hand_model_B.tmp_tmp_eg * dx_hand_model_B.t8_h * 6.0F) +
8254 dx_hand_model_B.tmp_tmp_hn * dx_hand_model_B.t8_h * 8.0F) +
8255 dx_hand_model_B.tmp_tmp_ku * dx_hand_model_B.t8_h * 2.0F) +
8256 dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t19_e * 2.0F) +
8257 dx_hand_model_B.tmp_tmp_ooe * dx_hand_model_B.t8_h * 2.0F) +
8258 dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t19_e * 2.0F) +
8259 dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.t8_h * 4.0F) +
8260 dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t17_f * 2.0F) +
8261 dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.t8_h * 2.0F) +
8262 dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.t8_h * 2.0F) +
8263 dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t18_h * 4.0F) +
8264 dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t18_h * 2.0F) +
8265 dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t8_h * 4.0F) +
8266 dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t19_e * 2.0F) +
8267 dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.t8_h * 6.0F) +
8268 dx_hand_model_B.tmp_tmp_ho4 * dx_hand_model_B.t8_h * 8.0F) +
8269 dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t18_h * 2.0F) +
8270 dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t8_h * 4.0F) +
8271 dx_hand_model_B.t802 * dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t790 *
8272 dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t773_re *
8273 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t771_re *
8274 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_cg *
8275 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t820 * dx_hand_model_B.t13_b
8276 * 2.0F) + dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t13_b * 6.0F) +
8277 dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t13_b * 6.0F) +
8278 dx_hand_model_B.t822 * dx_hand_model_B.t20_c * 2.0F) +
8279 dx_hand_model_B.t836_re * dx_hand_model_B.t20_c * 2.0F) +
8280 dx_hand_model_B.t768_re * dx_hand_model_B.t20_c * 2.0F) +
8281 dx_hand_model_B.t769_re * dx_hand_model_B.t20_c * 2.0F) +
8282 dx_hand_model_B.t823 * dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t821 *
8283 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t834_re *
8284 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_n *
8285 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fx *
8286 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_pm *
8287 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_nj *
8288 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_k *
8289 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fnt *
8290 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_iv *
8291 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1248 *
8292 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t1250 *
8293 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *
8294 dx_hand_model_B.t17_f * 4.0F) + dx_hand_model_B.t1252 *
8295 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_cy *
8296 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
8297 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1253 *
8298 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_f4 *
8299 dx_hand_model_B.t19_e * 8.0F) + dx_hand_model_B.tmp_tmp_nnx *
8300 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp *
8301 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp *
8302 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *
8303 dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.t1254 *
8304 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_fd *
8305 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t26_m * dx_hand_model_B.t17_f *
8306 8.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.Sum_nf * 6.0F)
8307 + dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.Sum_nf * 6.0F) +
8308 dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.Sum_nf * 6.0F)) +
8309 dx_hand_model_B.t26_m * dx_hand_model_B.t19_e * 4.0F) +
8310 dx_hand_model_B.t26_m * dx_hand_model_B.t18_h * 4.0F) +
8311 dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.Sum_nf * 6.0F) +
8312 dx_hand_model_B.tmp_tmp_cg1 * dx_hand_model_B.t7 * 2.0F) +
8313 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +
8314 dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.Sum_nf * 2.0F) +
8315 dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t7 * 6.0F) +
8316 dx_hand_model_B.xD1_tmp * dx_hand_model_B.Sum_nf * 2.0F) +
8317 dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t7 * 6.0F) +
8318 dx_hand_model_B.t1312 * dx_hand_model_B.Sum_nf * 2.0F) +
8319 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +
8320 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +
8321 dx_hand_model_B.tmp_tmp_be * dx_hand_model_B.Sum_nf * 2.0F) +
8322 dx_hand_model_B.tmp_tmp_os * dx_hand_model_B.Sum_nf * 6.0F) +
8323 dx_hand_model_B.t819 * dx_hand_model_B.Sum_nf * 6.0F) +
8324 dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.Sum_nf * 2.0F) +
8325 dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.Sum_nf * 2.0F) +
8326 dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +
8327 dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.Sum_nf * 2.0F) +
8328 dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.Sum_nf * 6.0F) +
8329 dx_hand_model_B.xD1_tmp_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +
8330 dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.Sum_nf * 2.0F) +
8331 dx_hand_model_B.JTcomp_idx_3_tmp_k * dx_hand_model_B.Sum_nf * 2.0F) +
8332 dx_hand_model_B.JTcomp_idx_3_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +
8333 dx_hand_model_B.tmp_tmp_kuk * dx_hand_model_B.Sum_nf * 2.0F) +
8334 dx_hand_model_B.tmp_tmp_jkf * dx_hand_model_B.Sum_nf * 2.0F) +
8335 dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.Sum_nf * 2.0F) +
8336 dx_hand_model_B.tmp_tmp_f2 * dx_hand_model_B.t7 * 2.0F) +
8337 dx_hand_model_B.tmp_tmp_dy * dx_hand_model_B.Sum_nf * 6.0F) +
8338 dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.Sum_nf * 2.0F) +
8339 dx_hand_model_B.tmp_tmp_kg * dx_hand_model_B.t7 * 2.0F) +
8340 dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t8_h * 4.0F) +
8341 dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.t8_h * 2.0F) +
8342 dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.t8_h * 2.0F) +
8343 dx_hand_model_B.t26_m * dx_hand_model_B.t8_h * 4.0F) +
8344 dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.t8_h * 2.0F) +
8345 dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.t8_h * 2.0F) +
8346 dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.t8_h * 2.0F) +
8347 dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.t8_h * 2.0F) +
8348 dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t8_h * 4.0F) +
8349 dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.t8_h * 2.0F) +
8350 dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t8_h * 4.0F) +
8351 dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.t8_h * 2.0F) +
8352 dx_hand_model_B.t818 * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t817
8353 * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t814 *
8354 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ki *
8355 dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_my *
8356 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ooe *
8357 dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *
8358 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
8359 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ft *
8360 dx_hand_model_B.Sum_nf * 12.0F) + dx_hand_model_B.tmp_tmp_gd *
8361 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_jc *
8362 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_cqr *
8363 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_egf *
8364 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_mxd *
8365 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t7
8366 * 2.0F) + dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.Sum_nf * 2.0F) +
8367 dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.Sum_nf * 2.0F) +
8368 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t17_f * 4.0F) +
8369 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t19_e * 4.0F) +
8370 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t18_h * 8.0F) +
8371 dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t7 * 6.0F) +
8372 dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t7 * 6.0F) +
8373 dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.Sum_nf * 6.0F) +
8374 dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.Sum_nf * 6.0F) +
8375 dx_hand_model_B.tmp_tmp_gi * dx_hand_model_B.Sum_nf * 6.0F) +
8376 dx_hand_model_B.tmp_tmp_om * dx_hand_model_B.Sum_nf * 6.0F) +
8377 dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t7 * 2.0F) +
8378 dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t7 * 2.0F) +
8379 dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.Sum_nf * 6.0F) +
8380 dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.Sum_nf * 2.0F) +
8381 dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.Sum_nf * 2.0F) +
8382 dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.Sum_nf * 6.0F) +
8383 dx_hand_model_B.tmp_tmp_mid * dx_hand_model_B.Sum_nf * 6.0F) +
8384 dx_hand_model_B.tmp_tmp_ftf * dx_hand_model_B.Sum_nf * 6.0F) +
8385 dx_hand_model_B.tmp_tmp_on * dx_hand_model_B.Sum_nf * 2.0F) +
8386 dx_hand_model_B.tmp_tmp_iz5 * dx_hand_model_B.Sum_nf * 2.0F) +
8387 dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.t8_h * 2.0F) +
8388 dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.t8_h * 2.0F) +
8389 dx_hand_model_B.tmp_tmp_o4 * dx_hand_model_B.t8_h * 2.0F) +
8390 dx_hand_model_B.tmp_tmp_frj * dx_hand_model_B.t8_h * 2.0F) +
8391 dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.t8_h * 2.0F) +
8392 dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.t8_h * 2.0F) +
8393 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t8_h * 2.0F) +
8394 dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.t8_h * 2.0F) +
8395 dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.t8_h * 2.0F) +
8396 dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.t8_h * 2.0F) +
8397 dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.t8_h * 2.0F) +
8398 dx_hand_model_B.tmp_tmp_ko * dx_hand_model_B.t8_h * 4.0F) +
8399 dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.t8_h * 2.0F) +
8400 dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.t8_h * 2.0F) +
8401 dx_hand_model_B.tmp_tmp_j11 * dx_hand_model_B.t8_h * 4.0F) +
8402 dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t8_h * 2.0F) +
8403 dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.t8_h * 6.0F) +
8404 dx_hand_model_B.tmp_tmp_axm * dx_hand_model_B.t8_h * 2.0F) +
8405 dx_hand_model_B.tmp_tmp_hi * dx_hand_model_B.t8_h * 2.0F) +
8406 dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.t8_h * 2.0F) +
8407 dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t8_h * 8.0F) +
8408 dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.t8_h * 2.0F) +
8409 dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.t8_h * 6.0F) +
8410 dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t8_h * 8.0F) +
8411 dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.t8_h * 6.0F) +
8412 dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.t8_h * 2.0F) +
8413 dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.t8_h * 2.0F) +
8414 dx_hand_model_B.tmp_tmp_an * dx_hand_model_B.t8_h * 4.0F) +
8415 dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.t8_h * 6.0F) +
8416 dx_hand_model_B.tmp_tmp_aq * dx_hand_model_B.t8_h * 4.0F) +
8417 dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t8_h * 2.0F) +
8418 dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.t8_h * 2.0F) +
8419 dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.t8_h * 2.0F) +
8420 dx_hand_model_B.tmp_tmp_oc * dx_hand_model_B.Sum_nf * 4.0F) +
8421 dx_hand_model_B.tmp_tmp_hnt * dx_hand_model_B.Sum_nf * 4.0F) +
8422 dx_hand_model_B.tmp_tmp_jkh * dx_hand_model_B.t8_h * 8.0F) +
8423 dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.t8_h * 4.0F) +
8424 dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.t8_h * 4.0F) +
8425 dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.t8_h * 8.0F) +
8426 dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.t8_h * 4.0F) +
8427 dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.t8_h * 4.0F) +
8428 dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.t8_h * 4.0F)) +
8429 dx_hand_model_B.tmp_tmp_n0 * dx_hand_model_B.t8_h * 4.0F) +
8430 dx_hand_model_B.tmp_tmp_izy * dx_hand_model_B.t8_h * 4.0F) -
8431 dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t7 * 2.0F) -
8432 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t7 * 2.0F) -
8433 dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t17_f * 4.0F) -
8434 dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t19_e * 4.0F) -
8435 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t8_h *
8436 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_dr *
8437 dx_hand_model_B.t11_e) - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t12_o)
8438 - dx_hand_model_B.t3 * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b * 2.0F)
8439 - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t14_a) -
8440 dx_hand_model_B.tmp_tmp_dr * dx_hand_model_B.t15_g) - dx_hand_model_B.t8_h *
8441 dx_hand_model_B.t11_e * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *
8442 dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *
8443 dx_hand_model_B.t12_o * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *
8444 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.t8_h * dx_hand_model_B.t14_a
8445 * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *
8446 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 *
8447 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_a *
8448 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t837_re *
8449 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t838_re *
8450 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t13_b
8451 * 2.0F) - dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t13_b * 2.0F) -
8452 dx_hand_model_B.tmp_tmp_pr * dx_hand_model_B.t13_b * 2.0F) -
8453 dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t17_f * 4.0F) -
8454 dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t13_b * 2.0F) -
8455 dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t11_e * 2.0F) -
8456 dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t13_b * 2.0F) -
8457 dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t19_e * 4.0F) -
8458 dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t13_b * 2.0F) -
8459 dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t15_g * 2.0F) -
8460 dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.t8_h) -
8461 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t8_h * 2.0F) -
8462 dx_hand_model_B.xD1_tmp_tmp_k * dx_hand_model_B.t8_h) -
8463 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t8_h *
8464 dx_hand_model_B.t17_f) - dx_hand_model_B.t1251 * dx_hand_model_B.t8_h *
8465 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1261 * dx_hand_model_B.t8_h
8466 * dx_hand_model_B.t19_e) - dx_hand_model_B.t796 * dx_hand_model_B.t8_h) -
8467 dx_hand_model_B.t770_re * dx_hand_model_B.t8_h * 2.0F) -
8468 dx_hand_model_B.t772_re * dx_hand_model_B.t8_h * 2.0F) -
8469 dx_hand_model_B.tmp_tmp_bf * dx_hand_model_B.t8_h * 2.0F) -
8470 dx_hand_model_B.t774 * dx_hand_model_B.t8_h) - dx_hand_model_B.tmp_tmp_eh *
8471 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_bs *
8472 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t1212 * dx_hand_model_B.t8_h *
8473 dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_hj *
8474 dx_hand_model_B.t17_f) - dx_hand_model_B.t752 * dx_hand_model_B.t8_h *
8475 dx_hand_model_B.t17_f) - dx_hand_model_B.t739 * dx_hand_model_B.t8_h *
8476 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hj *
8477 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t1328 * dx_hand_model_B.t8_h
8478 * dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_pn *
8479 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_hj *
8480 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t750 * dx_hand_model_B.t8_h *
8481 dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_pn *
8482 dx_hand_model_B.t19_e) - dx_hand_model_B.t754 * dx_hand_model_B.t8_h *
8483 dx_hand_model_B.t19_e) - dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t17_f *
8484 6.0F) - dx_hand_model_B.tmp_tmp_pn * dx_hand_model_B.t18_h * 2.0F) -
8485 dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t19_e * 6.0F) -
8486 dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t17_f) -
8487 dx_hand_model_B.t761_re * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8488 2.0F) - dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t19_e * 2.0F) -
8489 dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t17_f * 2.0F) -
8490 dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t18_h * 2.0F) -
8491 dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t19_e) -
8492 dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t18_h * 2.0F) -
8493 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t13_b * 2.0F) -
8494 dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.Sum_nf * 2.0F) -
8495 dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t7 * 2.0F) -
8496 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t13_b * 2.0F) -
8497 dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.Sum_nf * 2.0F) -
8498 dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.Sum_nf * 2.0F) -
8499 dx_hand_model_B.t26_m * dx_hand_model_B.t7 * 2.0F) -
8500 dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.Sum_nf * 2.0F) -
8501 dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t13_b * 2.0F) -
8502 dx_hand_model_B.t758_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)
8503 - dx_hand_model_B.t824 * dx_hand_model_B.t13_b * 2.0F) -
8504 dx_hand_model_B.t759_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)
8505 - dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t17_f * 2.0F) -
8506 dx_hand_model_B.t826_re * dx_hand_model_B.t13_b * 2.0F) -
8507 dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t19_e * 4.0F) -
8508 dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t13_b * 4.0F) -
8509 dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t14_a * 2.0F) -
8510 dx_hand_model_B.tmp_tmp_g4k * dx_hand_model_B.t13_b * 2.0F) -
8511 dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t15_g * 2.0F) -
8512 dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t18_h * 2.0F) -
8513 dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t17_f * 4.0F) -
8514 dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t13_b * 4.0F) -
8515 dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t12_o * 2.0F) -
8516 dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t13_b * 2.0F) -
8517 dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t11_e * 2.0F) -
8518 dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t13_b * 6.0F) -
8519 dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t16_e * 2.0F) -
8520 dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t19_e * 2.0F) -
8521 dx_hand_model_B.t841_re * dx_hand_model_B.t13_b * 2.0F) -
8522 dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t18_h * 2.0F) -
8523 dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t13_b * 2.0F) -
8524 dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t12_o * 2.0F) -
8525 dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t13_b * 6.0F) -
8526 dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t16_e * 2.0F) -
8527 dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t13_b * 2.0F) -
8528 dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t14_a * 2.0F) -
8529 dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.Sum_nf * 2.0F) -
8530 dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.Sum_nf * 2.0F) -
8531 dx_hand_model_B.t9_tmp * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *
8532 2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t20_c * 2.0F) -
8533 dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t20_c * 2.0F) -
8534 dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *
8535 2.0F) - dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t20_c * 2.0F) -
8536 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t17_f * dx_hand_model_B.t20_c *
8537 2.0F) - dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t20_c * 2.0F) -
8538 dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t20_c * 2.0F) -
8539 dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t20_c * 2.0F) -
8540 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t19_e * dx_hand_model_B.t20_c *
8541 2.0F) - dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t20_c * 2.0F) -
8542 dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t20_c * 2.0F) -
8543 dx_hand_model_B.tmp_tmp_og * dx_hand_model_B.Sum_nf * 2.0F) -
8544 dx_hand_model_B.tmp_tmp_gb * dx_hand_model_B.t7 * 2.0F) -
8545 dx_hand_model_B.tmp_tmp_mz * dx_hand_model_B.Sum_nf * 2.0F) -
8546 dx_hand_model_B.tmp_tmp_otc * dx_hand_model_B.Sum_nf * 2.0F) -
8547 dx_hand_model_B.tmp_tmp_gz * dx_hand_model_B.Sum_nf * 2.0F) -
8548 dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t7 * 2.0F) -
8549 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t17_f * 2.0F) -
8550 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t19_e * 4.0F) -
8551 dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.Sum_nf * 4.0F) -
8552 dx_hand_model_B.t785 * dx_hand_model_B.t17_f * 4.0F) -
8553 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t18_h * 2.0F) -
8554 dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t7 * 2.0F) -
8555 dx_hand_model_B.t785 * dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t785 *
8556 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_i3r *
8557 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_ez *
8558 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_izd *
8559 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *
8560 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_i *
8561 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_ge *
8562 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *
8563 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *
8564 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_gr *
8565 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ca *
8566 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_eg *
8567 dx_hand_model_B.Sum_nf * 6.0F) - dx_hand_model_B.tmp_tmp_kt *
8568 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_i *
8569 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_c *
8570 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ds *
8571 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_k *
8572 dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 2.0F) -
8573 dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t19_e * 4.0F) -
8574 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t17_f * 4.0F) -
8575 dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.Sum_nf * 2.0F) -
8576 dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.Sum_nf * 2.0F) -
8577 dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t18_h * 4.0F) -
8578 dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t18_h * 2.0F) -
8579 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t19_e * 2.0F) -
8580 dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.Sum_nf * 6.0F) -
8581 dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t18_h * 4.0F) -
8582 dx_hand_model_B.tmp_tmp_tmp_p5 * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7
8583 * 2.0F) - dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t7 * 2.0F) -
8584 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t18_h * 2.0F) -
8585 dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t7 * 2.0F) -
8586 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t13_b * 2.0F) -
8587 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t13_b * 2.0F) -
8588 dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t13_b * 2.0F) -
8589 dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t13_b * 2.0F) -
8590 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t8_h * 4.0F) -
8591 dx_hand_model_B.tmp_tmp_jw * dx_hand_model_B.t8_h * 4.0F) -
8592 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t8_h * 4.0F) -
8593 dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t8_h * 4.0F) -
8594 dx_hand_model_B.tmp_tmp_a0x * dx_hand_model_B.t8_h * 4.0F) -
8595 dx_hand_model_B.tmp_tmp_fto * dx_hand_model_B.t8_h * 2.0F) -
8596 dx_hand_model_B.tmp_tmp_ci * dx_hand_model_B.t8_h * 2.0F) -
8597 dx_hand_model_B.tmp_tmp_jkx * dx_hand_model_B.t8_h * 4.0F) -
8598 dx_hand_model_B.tmp_tmp_kbp * dx_hand_model_B.t8_h * 4.0F) -
8599 dx_hand_model_B.tmp_tmp_hj5 * dx_hand_model_B.t8_h * 4.0F) -
8600 dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t8_h * 4.0F) -
8601 dx_hand_model_B.t987_re * dx_hand_model_B.t8_h * 4.0F) -
8602 dx_hand_model_B.t832_re * dx_hand_model_B.t8_h * 4.0F) -
8603 dx_hand_model_B.tmp_tmp_j1 * dx_hand_model_B.t8_h * 4.0F) -
8604 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t13_b * 2.0F) -
8605 dx_hand_model_B.t822 * dx_hand_model_B.t13_b * 2.0F) -
8606 dx_hand_model_B.t768_re * dx_hand_model_B.t13_b * 2.0F) -
8607 dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t13_b * 2.0F) -
8608 dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t13_b * 6.0F) -
8609 dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t13_b * 6.0F) -
8610 dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t13_b * 2.0F) -
8611 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t20_c * 2.0F) -
8612 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t20_c * 2.0F) -
8613 dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t20_c * 2.0F) -
8614 dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t20_c * 2.0F) -
8615 dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t20_c * 2.0F) -
8616 dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t20_c * 2.0F) -
8617 dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.Sum_nf * 2.0F) -
8618 dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.Sum_nf * 2.0F) -
8619 dx_hand_model_B.tmp_tmp_np5 * dx_hand_model_B.Sum_nf * 2.0F) -
8620 dx_hand_model_B.tmp_tmp_j0o * dx_hand_model_B.Sum_nf * 2.0F) -
8621 dx_hand_model_B.tmp_tmp_lc * dx_hand_model_B.Sum_nf * 2.0F) -
8622 dx_hand_model_B.tmp_tmp_phi * dx_hand_model_B.Sum_nf * 2.0F) -
8623 dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.Sum_nf * 2.0F) -
8624 dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.Sum_nf * 2.0F) -
8625 dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.Sum_nf * 2.0F) -
8626 dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.Sum_nf * 2.0F) -
8627 dx_hand_model_B.t833_re * dx_hand_model_B.t7 * 2.0F) -
8628 dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.Sum_nf * 2.0F) -
8629 dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.Sum_nf * 2.0F) -
8630 dx_hand_model_B.tmp_tmp_el * dx_hand_model_B.t7 * 2.0F) -
8631 dx_hand_model_B.tmp_tmp_n3e * dx_hand_model_B.Sum_nf * 2.0F) -
8632 dx_hand_model_B.tmp_tmp_fni * dx_hand_model_B.Sum_nf * 2.0F) -
8633 dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t7 * 2.0F) -
8634 dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.Sum_nf * 2.0F) -
8635 dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t7 * 2.0F) -
8636 dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.Sum_nf * 2.0F) -
8637 dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.Sum_nf * 6.0F) -
8638 dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.Sum_nf * 2.0F) -
8639 dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.Sum_nf * 2.0F) -
8640 dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t7 * 6.0F) -
8641 dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.Sum_nf * 6.0F) -
8642 dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t7 * 6.0F) -
8643 dx_hand_model_B.tmp_tmp_fxv * dx_hand_model_B.Sum_nf * 2.0F) -
8644 dx_hand_model_B.tmp_tmp_i4x * dx_hand_model_B.Sum_nf * 2.0F) -
8645 dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.Sum_nf * 2.0F) -
8646 dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.Sum_nf * 2.0F) -
8647 dx_hand_model_B.t1254 * dx_hand_model_B.t8_h * 6.0F) -
8648 dx_hand_model_B.t842_re * dx_hand_model_B.t8_h * 8.0F) -
8649 dx_hand_model_B.t1255 * dx_hand_model_B.t8_h * 2.0F) -
8650 dx_hand_model_B.t831_re * dx_hand_model_B.t8_h * 2.0F) -
8651 dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.t8_h * 6.0F) -
8652 dx_hand_model_B.t843_re * dx_hand_model_B.t8_h * 8.0F) -
8653 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.t8_h * 2.0F) -
8654 dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.t8_h * 2.0F) -
8655 dx_hand_model_B.t833_re * dx_hand_model_B.t8_h * 4.0F) -
8656 dx_hand_model_B.tmp_tmp_c5 * dx_hand_model_B.t8_h * 2.0F) -
8657 dx_hand_model_B.t812 * dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.t813 *
8658 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_pw *
8659 dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_dat *
8660 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_el *
8661 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_pi *
8662 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t776 * dx_hand_model_B.t8_h *
8663 4.0F) - dx_hand_model_B.t810 * dx_hand_model_B.t8_h * 2.0F) -
8664 dx_hand_model_B.t808 * dx_hand_model_B.t8_h * 6.0F) -
8665 dx_hand_model_B.tmp_tmp_hs * dx_hand_model_B.t8_h * 4.0F) -
8666 dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t8_h * 4.0F) -
8667 dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.t8_h * 2.0F) -
8668 dx_hand_model_B.t779 * dx_hand_model_B.t8_h * 2.0F) -
8669 dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t8_h * 4.0F) -
8670 dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.t8_h * 2.0F) -
8671 dx_hand_model_B.t780 * dx_hand_model_B.t8_h * 2.0F) -
8672 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t7 * 2.0F) -
8673 dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t7 * 2.0F) -
8674 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t17_f * 2.0F) -
8675 dx_hand_model_B.tmp_tmp_nlw * dx_hand_model_B.Sum_nf * 2.0F) -
8676 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t19_e * 2.0F) -
8677 dx_hand_model_B.tmp_tmp_fj * dx_hand_model_B.Sum_nf * 6.0F) -
8678 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t17_f * 2.0F) -
8679 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t17_f * 2.0F) -
8680 dx_hand_model_B.tmp_tmp_ay * dx_hand_model_B.Sum_nf * 6.0F) -
8681 dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t7 * 2.0F) -
8682 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t18_h * 4.0F) -
8683 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t19_e * 4.0F) -
8684 dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t7 * 2.0F) -
8685 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t19_e * 2.0F) -
8686 dx_hand_model_B.tmp_tmp_mu * dx_hand_model_B.Sum_nf * 2.0F) -
8687 dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t7 * 4.0F) -
8688 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t18_h * 2.0F) -
8689 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t17_f * 4.0F) -
8690 dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t7 * 2.0F) -
8691 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t18_h * 4.0F) -
8692 dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.Sum_nf * 6.0F) -
8693 dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t7 * 4.0F) -
8694 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t19_e * 2.0F) -
8695 dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.Sum_nf * 2.0F) -
8696 dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.Sum_nf * 2.0F) -
8697 dx_hand_model_B.t987_re * dx_hand_model_B.t7 * 2.0F) -
8698 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t18_h * 2.0F) -
8699 dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.Sum_nf * 6.0F) -
8700 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t17_f * 2.0F) -
8701 dx_hand_model_B.tmp_tmp_nh4 * dx_hand_model_B.Sum_nf * 2.0F) -
8702 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t19_e * 2.0F) -
8703 dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t17_f * 2.0F) -
8704 dx_hand_model_B.tmp_tmp_d4f * dx_hand_model_B.Sum_nf * 6.0F) -
8705 dx_hand_model_B.tmp_tmp_ky * dx_hand_model_B.Sum_nf * 6.0F) -
8706 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t18_h * 4.0F) -
8707 dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t19_e * 2.0F) -
8708 dx_hand_model_B.tmp_tmp_cl * dx_hand_model_B.Sum_nf * 2.0F) -
8709 dx_hand_model_B.tmp_tmp_tmp_jd * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7
8710 * 2.0F) - dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t18_h * 4.0F) -
8711 dx_hand_model_B.tmp_tmp_tmp_m * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 *
8712 2.0F) - dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.Sum_nf * 4.0F) -
8713 dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.Sum_nf * 8.0F) -
8714 dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.Sum_nf * 8.0F) -
8715 dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.Sum_nf * 8.0F) -
8716 dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.Sum_nf * 8.0F) -
8717 dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.Sum_nf * 8.0F) -
8718 dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.Sum_nf * 4.0F) -
8719 dx_hand_model_B.tmp_tmp_in * dx_hand_model_B.Sum_nf * 4.0F) -
8720 dx_hand_model_B.tmp_tmp_i0 * dx_hand_model_B.Sum_nf * 4.0F) -
8721 dx_hand_model_B.tmp_tmp_lgo * dx_hand_model_B.Sum_nf * 4.0F) -
8722 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t7 * 2.0F) -
8723 dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t7 * 2.0F) -
8724 dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.Sum_nf * 2.0F) -
8725 dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.Sum_nf * 2.0F) -
8726 dx_hand_model_B.tmp_tmp_fa5 * dx_hand_model_B.Sum_nf * 2.0F) -
8727 dx_hand_model_B.tmp_tmp_eu * dx_hand_model_B.Sum_nf * 2.0F) -
8728 dx_hand_model_B.tmp_tmp_inq * dx_hand_model_B.Sum_nf * 2.0F) -
8729 dx_hand_model_B.tmp_tmp_a0m * dx_hand_model_B.Sum_nf * 2.0F) -
8730 dx_hand_model_B.tmp_tmp_ldg * dx_hand_model_B.Sum_nf * 6.0F) -
8731 dx_hand_model_B.tmp_tmp_aiu * dx_hand_model_B.Sum_nf * 6.0F) -
8732 dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.Sum_nf * 6.0F) -
8733 dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.Sum_nf * 2.0F) -
8734 dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.Sum_nf * 2.0F) -
8735 dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.Sum_nf * 6.0F) -
8736 dx_hand_model_B.tmp_tmp_iyd * dx_hand_model_B.Sum_nf * 6.0F) -
8737 dx_hand_model_B.tmp_tmp_ok * dx_hand_model_B.Sum_nf * 6.0F) -
8738 dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t7 * 2.0F) -
8739 dx_hand_model_B.tmp_tmp_nmz * dx_hand_model_B.t8_h * 2.0F) -
8740 dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.t8_h * 2.0F) -
8741 dx_hand_model_B.tmp_tmp_fnt * dx_hand_model_B.t8_h * 2.0F) -
8742 dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.t8_h * 2.0F) -
8743 dx_hand_model_B.tmp_tmp_iv * dx_hand_model_B.t8_h * 2.0F) -
8744 dx_hand_model_B.tmp_tmp_ceo * dx_hand_model_B.t8_h * 2.0F) -
8745 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
8746 8.0F) - dx_hand_model_B.tmp_tmp_mxd * dx_hand_model_B.t8_h * 6.0F) -
8747 dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t8_h * 6.0F) -
8748 dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t17_f * 4.0F) -
8749 dx_hand_model_B.tmp_tmp_nhy * dx_hand_model_B.t8_h * 2.0F) -
8750 dx_hand_model_B.tmp_tmp_daj * dx_hand_model_B.t8_h * 2.0F) -
8751 dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t19_e * 4.0F) -
8752 dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.t8_h * 6.0F) -
8753 dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.t8_h * 2.0F) -
8754 dx_hand_model_B.JTcomp_idx_3_tmp_tmp * dx_hand_model_B.t8_h * 6.0F) -
8755 dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.t8_h * 2.0F) -
8756 dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t18_h * 4.0F) -
8757 dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t17_f * 4.0F) -
8758 dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.t8_h * 6.0F) -
8759 dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.t8_h * 2.0F) -
8760 dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.t8_h * 6.0F) -
8761 dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.t8_h * 2.0F) -
8762 dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t19_e * 4.0F) -
8763 dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t18_h * 4.0F) -
8764 dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.t8_h * 6.0F) -
8765 dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.t8_h * 2.0F) -
8766 dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.t8_h * 2.0F) -
8767 dx_hand_model_B.tmp_tmp_bi * dx_hand_model_B.t8_h * 4.0F) -
8768 dx_hand_model_B.xD1_tmp * dx_hand_model_B.t8_h * 2.0F) -
8769 dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.t8_h * 2.0F) -
8770 dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.t8_h * 6.0F) -
8771 dx_hand_model_B.tmp_tmp_bt * dx_hand_model_B.t8_h * 4.0F) -
8772 dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t8_h * 2.0F) -
8773 dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t8_h * 2.0F) -
8774 dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.t8_h * 2.0F) -
8775 dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.t8_h * 2.0F) -
8776 dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.t8_h * 2.0F) -
8777 dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.t8_h * 2.0F) -
8778 dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t8_h * 2.0F) -
8779 dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.t8_h * 6.0F)
8780 - dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t8_h *
8781 2.0F) - dx_hand_model_B.tmp_tmp_b4z *
8782 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_kuk
8783 * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_on
8784 * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_jkf
8785 * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_f2 *
8786 dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_iz5 *
8787 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_dy *
8788 dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_kg *
8789 dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_jkh *
8790 dx_hand_model_B.Sum_nf * 8.0F) - dx_hand_model_B.tmp_tmp_n0 *
8791 dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_izy *
8792 dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_ft *
8793 dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_oc *
8794 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_hnt *
8795 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_jc *
8796 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_cqr *
8797 dx_hand_model_B.t8_h * 4.0F);
8798 dx_hand_model_B.t12_o = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)
8799 (dx_hand_model_B.t10_tmp * dx_hand_model_B.t10_tmp * dx_hand_model_B.t24_a -
8800 dx_hand_model_B.t1212)));
8801 dx_hand_model_B.t13_b = dx_hand_model_B.Switch_i[2] *
8802 dx_hand_model_B.DataTypeConversion5_n;
8803 dx_hand_model_B.t14_a = dx_hand_model_B.Switch_i[2] * dx_hand_model_B.t3;
8804 dx_hand_model_B.t15_g = dx_hand_model_B.Switch_i[2] * dx_hand_model_B.t4_o;
8805 dx_hand_model_B.t16_e = dx_hand_model_B.Switch_i[2] * dx_hand_model_B.t1313;
8806 dx_hand_model_B.xD1_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_ko *
8807 dx_hand_model_B.t4_o;
8808 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = (real32_T)
8809 dx_hand_model_B.RateTransition_ko * dx_hand_model_B.t1313;
8810 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t9_tmp *
8811 dx_hand_model_B.Switch_i[2] * 2.0F;
8812 dx_hand_model_B.t11_e = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Switch_i[2]
8813 * 2.0F;
8814 dx_hand_model_B.t1226 = 1.0F / (((((((((((((((((((((-dx_hand_model_B.t749 -
8815 dx_hand_model_B.t26_tmp_g) + dx_hand_model_B.t13_b) + dx_hand_model_B.t14_a)
8816 + dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +
8817 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +
8818 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) + dx_hand_model_B.t33_tmp)
8819 + dx_hand_model_B.t34_tmp) + dx_hand_model_B.tmp_tmp_tmp_o) +
8820 dx_hand_model_B.tmp_tmp_tmp_py) + dx_hand_model_B.tmp_tmp_tmp_om) +
8821 dx_hand_model_B.tmp_tmp_tmp_cm) - dx_hand_model_B.xD1_tmp_tmp) -
8822 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -
8823 dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -
8824 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e) -
8825 dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i);
8826 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.Filt4_c[0] *
8827 dx_hand_model_B.Switch_i[2];
8828 dx_hand_model_B.t1251 = (real32_T)dx_hand_model_B.RateTransition_ko *
8829 dx_hand_model_B.Switch_i[0];
8830 dx_hand_model_B.t1248 = (real32_T)dx_hand_model_B.RateTransition_nk *
8831 dx_hand_model_B.Switch_i[2];
8832 dx_hand_model_B.t1250 = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i
8833 [0];
8834 dx_hand_model_B.t1312 = dx_hand_model_B.t763_re * dx_hand_model_B.Filt4_c[2];
8835 dx_hand_model_B.t1248 =
8836 ((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp *
8837 dx_hand_model_B.Sum_nf + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t4_o) +
8838 dx_hand_model_B.t765_re * dx_hand_model_B.t4_o) +
8839 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) +
8840 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) +
8841 dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.t7) +
8842 dx_hand_model_B.t1251 * dx_hand_model_B.t4_o) + dx_hand_model_B.xD1_tmp_o *
8843 dx_hand_model_B.DataTypeConversion5_n) + dx_hand_model_B.xD1_tmp_o *
8844 dx_hand_model_B.t3) + dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf * 2.0F)
8845 + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313) +
8846 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) +
8847 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t8_h) + dx_hand_model_B.t1248 *
8848 dx_hand_model_B.t8_h) + dx_hand_model_B.t1250 * dx_hand_model_B.t8_h) +
8849 dx_hand_model_B.tmp_tmp_jzu) + dx_hand_model_B.t1312 *
8850 dx_hand_model_B.Switch_i[1]) + dx_hand_model_B.t1309 *
8851 dx_hand_model_B.Switch_i[2]) + dx_hand_model_B.t33_tmp *
8852 dx_hand_model_B.Switch_i[0]) + dx_hand_model_B.t34_tmp *
8853 dx_hand_model_B.Switch_i[0] * 2.0F) + dx_hand_model_B.tmp_tmp_tmp_c1 *
8854 dx_hand_model_B.Switch_i[1]) - dx_hand_model_B.t765_re *
8855 dx_hand_model_B.Sum_nf) - dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t4_o)
8856 - dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t1313) -
8857 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -
8858 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) -
8859 dx_hand_model_B.t1248 * dx_hand_model_B.t4_o * 2.0F) -
8860 dx_hand_model_B.t1248 * dx_hand_model_B.Sum_nf) -
8861 dx_hand_model_B.t1251 * dx_hand_model_B.t8_h) -
8862 dx_hand_model_B.tmp_tmp_tmp_tmp_g *
8863 dx_hand_model_B.DataTypeConversion5_n) - dx_hand_model_B.t1250 *
8864 dx_hand_model_B.t3) - dx_hand_model_B.t1250 *
8865 dx_hand_model_B.t4_o) - dx_hand_model_B.t1250 *
8866 dx_hand_model_B.t1313) - dx_hand_model_B.t1250 *
8867 dx_hand_model_B.Sum_nf) - dx_hand_model_B.t1250 * dx_hand_model_B.t7)
8868 - dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) -
8869 dx_hand_model_B.tmp_tmp_tmp_j) -
8870 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
8871 dx_hand_model_B.Switch_i[0]) - dx_hand_model_B.tmp_tmp_tmp_eb *
8872 dx_hand_model_B.Switch_i[1]) - dx_hand_model_B.tmp_tmp_tmp_ok *
8873 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1]) -
8874 dx_hand_model_B.t794 * dx_hand_model_B.Switch_i[2] * 2.0F) -
8875 dx_hand_model_B.tmp_tmp_tmp_g * dx_hand_model_B.Switch_i[2];
8876 dx_hand_model_B.t9_l = 1.0F / dx_hand_model_B.t9_l;
8877 dx_hand_model_B.t1250 = dx_hand_model_B.DataTypeConversion5_n *
8878 dx_hand_model_B.t12_o;
8879 dx_hand_model_B.t1251 = dx_hand_model_B.t3 * dx_hand_model_B.t12_o;
8880 dx_hand_model_B.t1252 = dx_hand_model_B.t7 * dx_hand_model_B.t12_o;
8881 dx_hand_model_B.t1253 = dx_hand_model_B.t4_o * dx_hand_model_B.t12_o;
8882 dx_hand_model_B.t1254 = dx_hand_model_B.t1313 * dx_hand_model_B.t12_o;
8883 dx_hand_model_B.t1255 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;
8884 dx_hand_model_B.t27_m = (((((((((dx_hand_model_B.t749 +
8885 dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)
8886 + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -
8887 dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) +
8888 dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Sum_nf;
8889 dx_hand_model_B.t1261 = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)
8890 (dx_hand_model_B.t27_m * dx_hand_model_B.t27_m * dx_hand_model_B.t24_a +
8891 -dx_hand_model_B.t1212)));
8892 dx_hand_model_B.t1212 = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1261 * 2.0F;
8893 dx_hand_model_B.t27_m = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1261 *
8894 2.0F;
8895 dx_hand_model_B.t17_f = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1261 *
8896 2.0F;
8897 dx_hand_model_B.Sum1_h = dx_hand_model_B.t1226 * dx_hand_model_B.t9_l;
8898 dx_hand_model_B.Sum_a = dx_hand_model_B.Sum1_h *
8899 (((((((((((((((((((((dx_hand_model_B.Switch_i[0] * dx_hand_model_B.t3 +
8900 dx_hand_model_B.Switch_i[0] * dx_hand_model_B.t7) +
8901 dx_hand_model_B.Switch_i[0] * dx_hand_model_B.t1313) +
8902 dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Sum_nf) +
8903 dx_hand_model_B.t767_re) + dx_hand_model_B.t1309) +
8904 dx_hand_model_B.t794) + dx_hand_model_B.tmp_tmp_tmp_g) +
8905 dx_hand_model_B.tmp_tmp_tmp_ok * dx_hand_model_B.Switch_i[1])
8906 + dx_hand_model_B.t766_re * dx_hand_model_B.Switch_i[1]) +
8907 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.Switch_i[2]) +
8908 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.Switch_i[2]) -
8909 (real32_T)dx_hand_model_B.RateTransition_nk *
8910 dx_hand_model_B.t1313) - (real32_T)
8911 dx_hand_model_B.RateTransition_nk * dx_hand_model_B.Sum_nf) -
8912 dx_hand_model_B.Filt4_c[0] * dx_hand_model_B.t3) -
8913 dx_hand_model_B.Filt4_c[0] * dx_hand_model_B.t7) -
8914 dx_hand_model_B.t763_re * dx_hand_model_B.Switch_i[1]) -
8915 dx_hand_model_B.t765_re * dx_hand_model_B.Switch_i[2]) -
8916 dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Switch_i[0] * 2.0F) -
8917 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.Switch_i[0] * 2.0F) -
8918 dx_hand_model_B.tmp_tmp_tmp_o2 * dx_hand_model_B.Switch_i[1]) -
8919 dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.Switch_i[2]);
8920 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = dx_hand_model_B.t1248 /
8921 (((((((((((((((((((((dx_hand_model_B.t13_b + dx_hand_model_B.t14_a) +
8922 dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +
8923 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +
8924 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +
8925 dx_hand_model_B.t33_tmp) + dx_hand_model_B.t34_tmp) +
8926 dx_hand_model_B.tmp_tmp_tmp_o) +
8927 dx_hand_model_B.tmp_tmp_tmp_py) +
8928 dx_hand_model_B.tmp_tmp_tmp_om) + dx_hand_model_B.tmp_tmp_tmp_cm)
8929 - dx_hand_model_B.xD1_tmp_tmp) -
8930 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -
8931 dx_hand_model_B.t749) - dx_hand_model_B.t26_tmp_g) -
8932 dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -
8933 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e)
8934 - dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i) +
8935 ((((((((((dx_hand_model_B.t25_h + dx_hand_model_B.t1250) +
8936 dx_hand_model_B.t1251) + dx_hand_model_B.t1252) +
8937 dx_hand_model_B.t1253) + dx_hand_model_B.t1254) +
8938 dx_hand_model_B.t1255) + dx_hand_model_B.t1256_tmp) -
8939 dx_hand_model_B.t9_tmp * dx_hand_model_B.t12_o * 2.0F) -
8940 dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t12_o * 2.0F) -
8941 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t12_o * 2.0F) *
8942 dx_hand_model_B.Sum_a;
8943 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =
8944 ((((((((((dx_hand_model_B.t25_h - dx_hand_model_B.t1250) -
8945 dx_hand_model_B.t1251) - dx_hand_model_B.t1252) -
8946 dx_hand_model_B.t1253) - dx_hand_model_B.t1254) -
8947 dx_hand_model_B.t1255) + dx_hand_model_B.t1256_tmp) +
8948 dx_hand_model_B.t1212) + dx_hand_model_B.t27_m) + dx_hand_model_B.t17_f) *
8949 dx_hand_model_B.Sum_a + dx_hand_model_B.t1226 * dx_hand_model_B.t1248;
8950 dx_hand_model_B.t1309 = dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.Switch_i
8951 [2];
8952 dx_hand_model_B.t28_h = (real32_T)dx_hand_model_B.RateTransition_ko *
8953 dx_hand_model_B.Switch_i[1];
8954 dx_hand_model_B.xD1_tmp_o = (real32_T)dx_hand_model_B.RateTransition_mpf *
8955 dx_hand_model_B.Switch_i[2];
8956 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.Filt4_c[2] *
8957 dx_hand_model_B.Switch_i[1];
8958 dx_hand_model_B.t8_h =
8959 (((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp_a *
8960 dx_hand_model_B.Sum_nf + dx_hand_model_B.t1309 * dx_hand_model_B.t1313) +
8961 dx_hand_model_B.t764_re * dx_hand_model_B.t1313) +
8962 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t4_o) +
8963 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t1313) +
8964 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t7) +
8965 dx_hand_model_B.t1309 * dx_hand_model_B.DataTypeConversion5_n) +
8966 dx_hand_model_B.t28_h * dx_hand_model_B.t1313) + dx_hand_model_B.t1309 *
8967 dx_hand_model_B.t3) + dx_hand_model_B.t28_h * dx_hand_model_B.Sum_nf * 2.0F)
8968 + dx_hand_model_B.t1309 * dx_hand_model_B.t4_o) + dx_hand_model_B.t1309 *
8969 dx_hand_model_B.Sum_nf) + dx_hand_model_B.tmp_tmp_tmp_p *
8970 dx_hand_model_B.t8_h) + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) +
8971 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) +
8972 dx_hand_model_B.tmp_tmp_g3) + dx_hand_model_B.t1312 *
8973 dx_hand_model_B.Switch_i[0]) +
8974 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * dx_hand_model_B.Switch_i[2])
8975 + dx_hand_model_B.t33_tmp * dx_hand_model_B.Switch_i[1] * 2.0F) +
8976 dx_hand_model_B.tmp_tmp_tmp_c1 * dx_hand_model_B.Switch_i[0]) +
8977 dx_hand_model_B.t34_tmp * dx_hand_model_B.Switch_i[1]) -
8978 dx_hand_model_B.t764_re * dx_hand_model_B.Sum_nf) -
8979 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t4_o) -
8980 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t1313) -
8981 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.Sum_nf) -
8982 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t8_h) -
8983 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313 * 2.0F) -
8984 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) -
8985 dx_hand_model_B.t28_h * dx_hand_model_B.t8_h) -
8986 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t3) -
8987 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
8988 dx_hand_model_B.DataTypeConversion5_n) -
8989 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) -
8990 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) -
8991 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -
8992 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t7) -
8993 dx_hand_model_B.t1309 * dx_hand_model_B.t8_h) -
8994 dx_hand_model_B.tmp_tmp_tmp_c) - dx_hand_model_B.tmp_tmp_tmp_b *
8995 dx_hand_model_B.Switch_i[0]) -
8996 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
8997 dx_hand_model_B.Switch_i[1]) -
8998 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a * dx_hand_model_B.Switch_i[2] *
8999 2.0F) - dx_hand_model_B.t766_re * dx_hand_model_B.Filt4_c[2] *
9000 dx_hand_model_B.Switch_i[0]) - dx_hand_model_B.tmp_tmp_tmp_kn *
9001 dx_hand_model_B.Switch_i[2]) * dx_hand_model_B.t1226;
9002 dx_hand_model_B.t1309 = dx_hand_model_B.DataTypeConversion5_n *
9003 dx_hand_model_B.t1261;
9004 dx_hand_model_B.t3 *= dx_hand_model_B.t1261;
9005 dx_hand_model_B.t28_h = dx_hand_model_B.t7 * dx_hand_model_B.t1261;
9006 dx_hand_model_B.t1312 = dx_hand_model_B.t4_o * dx_hand_model_B.t1261;
9007 dx_hand_model_B.t1313 *= dx_hand_model_B.t1261;
9008 dx_hand_model_B.t1261 *= dx_hand_model_B.Sum_nf;
9009 dx_hand_model_B.t7 = ((((((((((((((((((((dx_hand_model_B.Switch_i[1] *
9010 dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.Switch_i[1] *
9011 dx_hand_model_B.t7) + dx_hand_model_B.Switch_i[1] * dx_hand_model_B.t4_o) +
9012 dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Sum_nf) +
9013 dx_hand_model_B.t10_j) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) +
9014 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) + dx_hand_model_B.tmp_tmp_tmp_kn)
9015 + dx_hand_model_B.tmp_tmp_tmp_ca) + dx_hand_model_B.tmp_tmp_tmp_ji) +
9016 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.Switch_i[2]) +
9017 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.Switch_i[2]) - (real32_T)
9018 dx_hand_model_B.RateTransition_mpf * dx_hand_model_B.t4_o) - (real32_T)
9019 dx_hand_model_B.RateTransition_mpf * dx_hand_model_B.Sum_nf) -
9020 dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.DataTypeConversion5_n) -
9021 dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.t7) -
9022 dx_hand_model_B.tmp_tmp_tmp_al) - dx_hand_model_B.t764_re *
9023 dx_hand_model_B.Switch_i[2]) - dx_hand_model_B.t9_tmp *
9024 dx_hand_model_B.Switch_i[1] * 2.0F) - dx_hand_model_B.t9_tmp_d *
9025 dx_hand_model_B.Switch_i[1] * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_d) -
9026 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.Switch_i[2];
9027 dx_hand_model_B.t1328 = (((((((((dx_hand_model_B.t25_h - dx_hand_model_B.t1212)
9028 - dx_hand_model_B.t27_m) - dx_hand_model_B.t17_f) + dx_hand_model_B.t1309) +
9029 dx_hand_model_B.t3) + dx_hand_model_B.t28_h) + dx_hand_model_B.t1312) +
9030 dx_hand_model_B.t1313) + dx_hand_model_B.t1261) + dx_hand_model_B.t1256_tmp;
9031 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Sum1_h *
9032 dx_hand_model_B.t7;
9033 dx_hand_model_B.q_dif[0] = dx_hand_model_B.DataTypeConversion5_n *
9034 dx_hand_model_B.t1328 + dx_hand_model_B.t8_h;
9035 dx_hand_model_B.Sum_nf = ((((((((dx_hand_model_B.t10_tmp +
9036 dx_hand_model_B.t1212) + dx_hand_model_B.t27_m) + dx_hand_model_B.t17_f) -
9037 dx_hand_model_B.t1309) - dx_hand_model_B.t3) - dx_hand_model_B.t28_h) -
9038 dx_hand_model_B.t1312) - dx_hand_model_B.t1313) - dx_hand_model_B.t1261;
9039 dx_hand_model_B.q_dif[1] = dx_hand_model_B.Sum_nf *
9040 dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.t8_h;
9041 dx_hand_model_B.z_sol_l[0] = dx_hand_model_B.t9_l * dx_hand_model_B.t1328;
9042 dx_hand_model_B.z_sol_l[1] = dx_hand_model_B.Sum_nf * dx_hand_model_B.t9_l;
9043
9044 /* MATLAB Function: '<S231>/get_Angles' incorporates:
9045 * DataTypeConversion: '<S279>/Data Type Conversion1'
9046 * DataTypeConversion: '<S280>/Data Type Conversion1'
9047 * DataTypeConversion: '<S281>/Data Type Conversion1'
9048 */
9049 dx_hand_model_B.ixstart = 1;
9050 dx_hand_model_B.t739 = dx_hand_model_B.z_sol_l[0];
9051 dx_hand_model_B.k = 0;
9052 if (rtIsNaNF(dx_hand_model_B.z_sol_l[0])) {
9053 dx_hand_model_B.ix = 2;
9054 exitg1 = false;
9055 while ((!exitg1) && (dx_hand_model_B.ix < 3)) {
9056 dx_hand_model_B.ixstart = 2;
9057 if (!rtIsNaNF(dx_hand_model_B.z_sol_l[1])) {
9058 dx_hand_model_B.t739 = dx_hand_model_B.z_sol_l[1];
9059 dx_hand_model_B.k = 1;
9060 exitg1 = true;
9061 } else {
9062 dx_hand_model_B.ix = 3;
9063 }
9064 }
9065 }
9066
9067 if ((dx_hand_model_B.ixstart < 2) && (dx_hand_model_B.z_sol_l[1] <
9068 dx_hand_model_B.t739)) {
9069 dx_hand_model_B.k = 1;
9070 }
9071
9072 dx_hand_model_B.rtb_K_idx_0 =
9073 dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.k];
9074 dx_hand_model_B.rtb_K_idx_1 = dx_hand_model_B.q_dif[dx_hand_model_B.k];
9075 dx_hand_model_B.rtb_K_idx_2 = dx_hand_model_B.z_sol_l[dx_hand_model_B.k];
9076 dx_hand_model_B.Sum_a =
9077 dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.k] - (real32_T)
9078 dx_hand_model_B.RateTransition_nk;
9079 dx_hand_model_B.t1313 = dx_hand_model_B.q_dif[dx_hand_model_B.k] - (real32_T)
9080 dx_hand_model_B.RateTransition_mpf;
9081 dx_hand_model_B.Sum1_h = dx_hand_model_B.z_sol_l[dx_hand_model_B.k] -
9082 (real32_T)dx_hand_model_B.RateTransition_ko;
9083 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Sum1_h *
9084 dx_hand_model_B.Sum1_h;
9085 dx_hand_model_B.t1313 = (dx_hand_model_B.Sum_a * dx_hand_model_B.Sum_a +
9086 dx_hand_model_B.DataTypeConversion5_n) + dx_hand_model_B.t1313 *
9087 dx_hand_model_B.t1313;
9088 dx_hand_model_B.Sum_nf = 1.0F / (real32_T)sqrt((real_T)dx_hand_model_B.t1313);
9089 dx_hand_model_B.t476.re = dx_hand_model_B.Sum1_h * dx_hand_model_B.Sum_nf;
9090 dx_hand_model_B.t476.im = 0.0F;
9091 dx_hand_model_acos(&dx_hand_model_B.t476);
9092 dx_hand_model_B.Sum1_h = -(1.57079637F - dx_hand_model_B.t476.re);
9093 dx_hand_model_B.t476.re = dx_hand_model_B.Sum_a * dx_hand_model_B.Sum_nf /
9094 (real32_T)sqrt((real_T)(-dx_hand_model_B.DataTypeConversion5_n /
9095 dx_hand_model_B.t1313 + 1.0F));
9096 dx_hand_model_B.t476.im = 0.0F;
9097 dx_hand_model_acos(&dx_hand_model_B.t476);
9098 dx_hand_model_B.Sum_a = 3.14159274F - dx_hand_model_B.t476.re;
9099 if (dx_hand_model_B.q_dif[dx_hand_model_B.k] > (real32_T)
9100 dx_hand_model_B.RateTransition_mpf) {
9101 dx_hand_model_B.Sum_a = -(3.14159274F - dx_hand_model_B.t476.re);
9102 }
9103
9104 /* End of MATLAB Function: '<S231>/get_Angles' */
9105
9106 /* RateTransition: '<S283>/Rate Transition' incorporates:
9107 * RateTransition: '<S285>/Rate Transition'
9108 */
9109 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
9110 dx_hand_model_B.RateTransition_nz =
9111 dx_hand_model_DW.RateTransition_Buffer0_eq;
9112 dx_hand_model_B.RateTransition_kl =
9113 dx_hand_model_DW.RateTransition_Buffer0_dhx;
9114 }
9115
9116 /* End of RateTransition: '<S283>/Rate Transition' */
9117
9118 /* MATLAB Function: '<S231>/MATLAB Function' incorporates:
9119 * ComplexToRealImag: '<S231>/Complex to Real-Imag1'
9120 * ComplexToRealImag: '<S231>/Complex to Real-Imag5'
9121 * DataTypeConversion: '<S279>/Data Type Conversion1'
9122 * DataTypeConversion: '<S280>/Data Type Conversion1'
9123 * DataTypeConversion: '<S281>/Data Type Conversion1'
9124 * DataTypeConversion: '<S283>/Data Type Conversion1'
9125 * MATLAB Function: '<S233>/MATLAB Function'
9126 */
9127 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 = (real32_T)cos((real_T)
9128 dx_hand_model_B.Sum_a);
9129 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 = (real32_T)sin((real_T)
9130 dx_hand_model_B.Sum1_h);
9131 dx_hand_model_B.t9_tmp = (real32_T)cos((real_T)dx_hand_model_B.Sum1_h);
9132 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 = (real32_T)sin((real_T)
9133 dx_hand_model_B.Sum_a);
9134 dx_hand_model_B.DataTypeConversion5_n = (real32_T)
9135 dx_hand_model_B.RateTransition_nz *
9136 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;
9137 dx_hand_model_B.Sum_nf = (real32_T)dx_hand_model_B.RateTransition_nz *
9138 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
9139 dx_hand_model_B.MCP[0] = ((real32_T)dx_hand_model_B.RateTransition_nk -
9140 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t9_tmp) +
9141 dx_hand_model_B.Sum_nf * dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
9142 6.12323426E-17F;
9143 dx_hand_model_B.MCP[1] = ((real32_T)dx_hand_model_B.RateTransition_mpf -
9144 dx_hand_model_B.DataTypeConversion5_n *
9145 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * 6.12323426E-17F) - (real32_T)
9146 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t9_tmp *
9147 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;
9148 dx_hand_model_B.MCP[2] = (real32_T)dx_hand_model_B.RateTransition_ko -
9149 dx_hand_model_B.Sum_nf;
9150 dx_hand_model_B.MCP[3] = 1.0F;
9151
9152 /* MATLAB Function: '<S233>/MATLAB Function4' incorporates:
9153 * DataTypeConversion: '<S279>/Data Type Conversion1'
9154 * DataTypeConversion: '<S280>/Data Type Conversion1'
9155 * DataTypeConversion: '<S281>/Data Type Conversion1'
9156 */
9157 dx_hand_m_MATLABFunction4_o((real32_T)dx_hand_model_B.RateTransition_nk,
9158 (real32_T)dx_hand_model_B.RateTransition_mpf, (real32_T)
9159 dx_hand_model_B.RateTransition_ko, &dx_hand_model_B.sf_MATLABFunction4_o);
9160
9161 /* MATLAB Function: '<S243>/MATLAB Function2' incorporates:
9162 * ComplexToRealImag: '<S227>/Complex to Real-Imag4'
9163 */
9164 dx_hand_mod_MATLABFunction1(dx_hand_model_B.I,
9165 &dx_hand_model_B.sf_MATLABFunction2);
9166
9167 /* MATLAB Function: '<S243>/MATLAB Function1' incorporates:
9168 * ComplexToRealImag: '<S227>/Complex to Real-Imag3'
9169 */
9170 dx_hand_mod_MATLABFunction1(dx_hand_model_B.J,
9171 &dx_hand_model_B.sf_MATLABFunction1_g);
9172
9173 /* MATLAB Function: '<S243>/MATLAB Function' incorporates:
9174 * ComplexToRealImag: '<S227>/Complex to Real-Imag2'
9175 */
9176 dx_hand_mod_MATLABFunction1(dx_hand_model_B.Memory_d,
9177 &dx_hand_model_B.sf_MATLABFunction_h);
9178
9179 /* MATLAB Function: '<S243>/MATLAB Function3' incorporates:
9180 * Memory: '<S243>/Memory'
9181 * Memory: '<S243>/Memory1'
9182 * Memory: '<S243>/Memory2'
9183 */
9184 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.sf_MATLABFunction_h.x *
9185 dx_hand_model_B.sf_MATLABFunction_h.x;
9186 dx_hand_model_B.t3 = dx_hand_model_B.sf_MATLABFunction2.x *
9187 dx_hand_model_B.sf_MATLABFunction2.x;
9188 dx_hand_model_B.t4_o = dx_hand_model_B.sf_MATLABFunction_h.y *
9189 dx_hand_model_B.sf_MATLABFunction_h.y;
9190 dx_hand_model_B.t1313 = dx_hand_model_B.sf_MATLABFunction2.y *
9191 dx_hand_model_B.sf_MATLABFunction2.y;
9192 dx_hand_model_B.Sum_nf = dx_hand_model_B.sf_MATLABFunction_h.z *
9193 dx_hand_model_B.sf_MATLABFunction_h.z;
9194 dx_hand_model_B.t7 = dx_hand_model_B.sf_MATLABFunction2.z *
9195 dx_hand_model_B.sf_MATLABFunction2.z;
9196 dx_hand_model_B.t9_tmp_n = dx_hand_model_B.sf_MATLABFunction_h.x *
9197 dx_hand_model_B.sf_MATLABFunction2.y;
9198 dx_hand_model_B.t12_o = 1.0F / (((((dx_hand_model_B.t9_tmp_n +
9199 dx_hand_model_B.sf_MATLABFunction1_g.x *
9200 dx_hand_model_B.sf_MATLABFunction_h.y) +
9201 dx_hand_model_B.sf_MATLABFunction2.x *
9202 dx_hand_model_B.sf_MATLABFunction1_g.y) -
9203 dx_hand_model_B.sf_MATLABFunction2.x * dx_hand_model_B.sf_MATLABFunction_h.y)
9204 - dx_hand_model_B.sf_MATLABFunction_h.x *
9205 dx_hand_model_B.sf_MATLABFunction1_g.y) -
9206 dx_hand_model_B.sf_MATLABFunction1_g.x *
9207 dx_hand_model_B.sf_MATLABFunction2.y);
9208 dx_hand_model_B.t13_b = dx_hand_model_B.sf_MATLABFunction1_g.y *
9209 dx_hand_model_B.sf_MATLABFunction1_g.y;
9210 dx_hand_model_B.t14_a = dx_hand_model_B.sf_MATLABFunction1_g.x *
9211 dx_hand_model_B.sf_MATLABFunction1_g.x;
9212 dx_hand_model_B.t15_g = dx_hand_model_B.sf_MATLABFunction1_g.z *
9213 dx_hand_model_B.sf_MATLABFunction1_g.z;
9214 dx_hand_model_B.t16_e = dx_hand_model_B.t3 * dx_hand_model_B.t3;
9215 dx_hand_model_B.t17_f = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;
9216 dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.t3 *
9217 dx_hand_model_B.sf_MATLABFunction_h.x;
9218 dx_hand_model_B.t1251 = dx_hand_model_B.JTcomp_idx_3_tmp_c *
9219 dx_hand_model_B.sf_MATLABFunction2.x;
9220 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = dx_hand_model_B.t7 *
9221 dx_hand_model_B.sf_MATLABFunction_h.x;
9222 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.DataTypeConversion5_n *
9223 dx_hand_model_B.sf_MATLABFunction_h.x;
9224 dx_hand_model_B.t1261 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
9225 dx_hand_model_B.sf_MATLABFunction2.x;
9226 dx_hand_model_B.t1212 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
9227 dx_hand_model_B.sf_MATLABFunction1_g.x;
9228 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.t3 *
9229 dx_hand_model_B.sf_MATLABFunction2.x;
9230 dx_hand_model_B.t1328 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
9231 dx_hand_model_B.sf_MATLABFunction1_g.x;
9232 dx_hand_model_B.t10_j = dx_hand_model_B.t1313 *
9233 dx_hand_model_B.sf_MATLABFunction_h.y;
9234 dx_hand_model_B.t739 = dx_hand_model_B.t10_j *
9235 dx_hand_model_B.sf_MATLABFunction2.y;
9236 dx_hand_model_B.t750 = dx_hand_model_B.t7 *
9237 dx_hand_model_B.sf_MATLABFunction_h.y;
9238 dx_hand_model_B.t767_re = dx_hand_model_B.t4_o *
9239 dx_hand_model_B.sf_MATLABFunction_h.y;
9240 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t767_re *
9241 dx_hand_model_B.sf_MATLABFunction2.y;
9242 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t767_re *
9243 dx_hand_model_B.sf_MATLABFunction1_g.y;
9244 dx_hand_model_B.t767_re = dx_hand_model_B.t1313 *
9245 dx_hand_model_B.sf_MATLABFunction2.y;
9246 dx_hand_model_B.t752 = dx_hand_model_B.t767_re *
9247 dx_hand_model_B.sf_MATLABFunction1_g.y;
9248 dx_hand_model_B.t754 = dx_hand_model_B.DataTypeConversion5_n *
9249 dx_hand_model_B.t3;
9250 dx_hand_model_B.t755 = dx_hand_model_B.DataTypeConversion5_n *
9251 dx_hand_model_B.t14_a;
9252 dx_hand_model_B.t761_re = dx_hand_model_B.t3 * dx_hand_model_B.t14_a;
9253 dx_hand_model_B.t757_re = dx_hand_model_B.DataTypeConversion5_n *
9254 dx_hand_model_B.t1313;
9255 dx_hand_model_B.t760_re = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;
9256 dx_hand_model_B.t758_re = dx_hand_model_B.DataTypeConversion5_n *
9257 dx_hand_model_B.t13_b;
9258 dx_hand_model_B.t759_re = dx_hand_model_B.t4_o * dx_hand_model_B.t14_a;
9259 dx_hand_model_B.t762_re = dx_hand_model_B.t3 * dx_hand_model_B.t1313;
9260 dx_hand_model_B.t804 = dx_hand_model_B.t3 * dx_hand_model_B.t13_b;
9261 dx_hand_model_B.t803 = dx_hand_model_B.t1313 * dx_hand_model_B.t14_a;
9262 dx_hand_model_B.t835_re = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;
9263 dx_hand_model_B.t763_re = dx_hand_model_B.DataTypeConversion5_n *
9264 dx_hand_model_B.t7;
9265 dx_hand_model_B.t802 = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;
9266 dx_hand_model_B.t790 = dx_hand_model_B.t7 * dx_hand_model_B.t14_a;
9267 dx_hand_model_B.t765_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t14_a;
9268 dx_hand_model_B.t822 = dx_hand_model_B.t4_o * dx_hand_model_B.t13_b;
9269 dx_hand_model_B.t836_re = dx_hand_model_B.t3 * dx_hand_model_B.t7;
9270 dx_hand_model_B.t764_re = dx_hand_model_B.t1313 * dx_hand_model_B.t13_b;
9271 dx_hand_model_B.t768_re = dx_hand_model_B.t4_o * dx_hand_model_B.t7;
9272 dx_hand_model_B.t769_re = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;
9273 dx_hand_model_B.t773_re = dx_hand_model_B.t7 * dx_hand_model_B.t13_b;
9274 dx_hand_model_B.t771_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t13_b;
9275 dx_hand_model_B.t823 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;
9276 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.sf_MATLABFunction_h.x *
9277 dx_hand_model_B.sf_MATLABFunction2.x;
9278 dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.sf_MATLABFunction_h.x *
9279 dx_hand_model_B.sf_MATLABFunction1_g.x;
9280 dx_hand_model_B.t837_re = dx_hand_model_B.sf_MATLABFunction2.x *
9281 dx_hand_model_B.sf_MATLABFunction1_g.x;
9282 dx_hand_model_B.t838_re = dx_hand_model_B.sf_MATLABFunction_h.y *
9283 dx_hand_model_B.sf_MATLABFunction2.y;
9284 dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.sf_MATLABFunction_h.y *
9285 dx_hand_model_B.sf_MATLABFunction1_g.y;
9286 dx_hand_model_B.t824 = dx_hand_model_B.sf_MATLABFunction2.y *
9287 dx_hand_model_B.sf_MATLABFunction1_g.y;
9288 dx_hand_model_B.t839_re = dx_hand_model_B.t14_a *
9289 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x;
9290 dx_hand_model_B.t825 = dx_hand_model_B.JTcomp_idx_3_tmp_c *
9291 dx_hand_model_B.sf_MATLABFunction1_g.x;
9292 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f =
9293 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.sf_MATLABFunction2.x;
9294 dx_hand_model_B.t826_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
9295 dx_hand_model_B.sf_MATLABFunction1_g.x;
9296 dx_hand_model_B.t1309 = dx_hand_model_B.t4_o *
9297 dx_hand_model_B.sf_MATLABFunction_h.x;
9298 dx_hand_model_B.t840_re = dx_hand_model_B.t1309 *
9299 dx_hand_model_B.sf_MATLABFunction2.x;
9300 dx_hand_model_B.t1226 = dx_hand_model_B.t1309 *
9301 dx_hand_model_B.sf_MATLABFunction1_g.x;
9302 dx_hand_model_B.t1309 = dx_hand_model_B.t1313 *
9303 dx_hand_model_B.sf_MATLABFunction_h.x;
9304 dx_hand_model_B.t841_re = dx_hand_model_B.t1309 *
9305 dx_hand_model_B.sf_MATLABFunction2.x;
9306 dx_hand_model_B.t827_re = dx_hand_model_B.t13_b *
9307 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x;
9308 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t4_o *
9309 dx_hand_model_B.sf_MATLABFunction2.x;
9310 dx_hand_model_B.t828_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
9311 dx_hand_model_B.sf_MATLABFunction1_g.x;
9312 dx_hand_model_B.t829_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
9313 dx_hand_model_B.sf_MATLABFunction2.x;
9314 dx_hand_model_B.t830_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
9315 dx_hand_model_B.sf_MATLABFunction1_g.x;
9316 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.Sum_nf *
9317 dx_hand_model_B.sf_MATLABFunction2.x;
9318 dx_hand_model_B.t842_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *
9319 dx_hand_model_B.sf_MATLABFunction1_g.x;
9320 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.t7 *
9321 dx_hand_model_B.sf_MATLABFunction2.x;
9322 dx_hand_model_B.t831_re = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
9323 dx_hand_model_B.sf_MATLABFunction1_g.x;
9324 dx_hand_model_B.t843_re = dx_hand_model_B.t750 *
9325 dx_hand_model_B.sf_MATLABFunction2.y;
9326 dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.t750 *
9327 dx_hand_model_B.sf_MATLABFunction1_g.y;
9328 dx_hand_model_B.t766_re = dx_hand_model_B.Sum_nf *
9329 dx_hand_model_B.sf_MATLABFunction2.y;
9330 dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t766_re *
9331 dx_hand_model_B.sf_MATLABFunction1_g.y;
9332 dx_hand_model_B.tmp_tmp_jw = dx_hand_model_B.t3 *
9333 dx_hand_model_B.sf_MATLABFunction_h.z;
9334 dx_hand_model_B.t794 = dx_hand_model_B.t7 *
9335 dx_hand_model_B.sf_MATLABFunction2.y;
9336 dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t794 *
9337 dx_hand_model_B.sf_MATLABFunction1_g.y;
9338 dx_hand_model_B.tmp_tmp_ob = dx_hand_model_B.t1313 *
9339 dx_hand_model_B.sf_MATLABFunction_h.z;
9340 dx_hand_model_B.t775 = dx_hand_model_B.t837_re *
9341 dx_hand_model_B.sf_MATLABFunction_h.z;
9342 dx_hand_model_B.t778 = dx_hand_model_B.t824 *
9343 dx_hand_model_B.sf_MATLABFunction_h.z;
9344 dx_hand_model_B.t797 = dx_hand_model_B.DataTypeConversion5_n *
9345 dx_hand_model_B.t15_g;
9346 dx_hand_model_B.t796 = dx_hand_model_B.t3 * dx_hand_model_B.t15_g;
9347 dx_hand_model_B.t770_re = dx_hand_model_B.t4_o * dx_hand_model_B.t15_g;
9348 dx_hand_model_B.t772_re = dx_hand_model_B.t1313 * dx_hand_model_B.t15_g;
9349 dx_hand_model_B.t774 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
9350 dx_hand_model_B.sf_MATLABFunction2.z;
9351 dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.tmp_tmp_m1 *
9352 dx_hand_model_B.sf_MATLABFunction2.z;
9353 dx_hand_model_B.t777 = dx_hand_model_B.t838_re *
9354 dx_hand_model_B.sf_MATLABFunction2.z;
9355 dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.tmp_tmp_cx *
9356 dx_hand_model_B.sf_MATLABFunction2.z;
9357 dx_hand_model_B.tmp_tmp_d4 = dx_hand_model_B.t14_a *
9358 dx_hand_model_B.sf_MATLABFunction_h.z;
9359 dx_hand_model_B.tmp_tmp_ey = dx_hand_model_B.t13_b *
9360 dx_hand_model_B.sf_MATLABFunction_h.z;
9361 dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.t837_re *
9362 dx_hand_model_B.sf_MATLABFunction2.z;
9363 dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.t824 *
9364 dx_hand_model_B.sf_MATLABFunction2.z;
9365 dx_hand_model_B.t1248 = dx_hand_model_B.t829_re *
9366 dx_hand_model_B.sf_MATLABFunction2.z;
9367 dx_hand_model_B.t1250 = dx_hand_model_B.t1251 *
9368 dx_hand_model_B.sf_MATLABFunction2.z;
9369 dx_hand_model_B.t1252 = dx_hand_model_B.t1261 *
9370 dx_hand_model_B.sf_MATLABFunction2.z;
9371 dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.t830_re *
9372 dx_hand_model_B.sf_MATLABFunction2.z;
9373 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t1328 *
9374 dx_hand_model_B.sf_MATLABFunction2.z;
9375 dx_hand_model_B.t1253 = dx_hand_model_B.t843_re *
9376 dx_hand_model_B.sf_MATLABFunction2.z;
9377 dx_hand_model_B.t1254 = dx_hand_model_B.t739 *
9378 dx_hand_model_B.sf_MATLABFunction2.z;
9379 dx_hand_model_B.t1255 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
9380 dx_hand_model_B.sf_MATLABFunction2.z;
9381 dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.tmp_tmp_da *
9382 dx_hand_model_B.sf_MATLABFunction2.z;
9383 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t752 *
9384 dx_hand_model_B.sf_MATLABFunction2.z;
9385 dx_hand_model_B.t1312 = dx_hand_model_B.t826_re *
9386 dx_hand_model_B.sf_MATLABFunction2.z;
9387 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t840_re *
9388 dx_hand_model_B.sf_MATLABFunction2.z;
9389 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t841_re *
9390 dx_hand_model_B.sf_MATLABFunction2.z;
9391 dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t763_re *
9392 dx_hand_model_B.sf_MATLABFunction2.z;
9393 dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t768_re *
9394 dx_hand_model_B.sf_MATLABFunction2.z;
9395 dx_hand_model_B.t819 = dx_hand_model_B.t754 *
9396 dx_hand_model_B.sf_MATLABFunction2.z;
9397 dx_hand_model_B.t818 = dx_hand_model_B.t757_re *
9398 dx_hand_model_B.sf_MATLABFunction2.z;
9399 dx_hand_model_B.t817 = dx_hand_model_B.t760_re *
9400 dx_hand_model_B.sf_MATLABFunction2.z;
9401 dx_hand_model_B.t814 = dx_hand_model_B.t835_re *
9402 dx_hand_model_B.sf_MATLABFunction2.z;
9403 dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t1212 *
9404 dx_hand_model_B.sf_MATLABFunction2.z;
9405 dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t831_re *
9406 dx_hand_model_B.sf_MATLABFunction2.z;
9407 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.xD1_tmp_tmp *
9408 dx_hand_model_B.sf_MATLABFunction2.z;
9409 dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.tmp_tmp_pie *
9410 dx_hand_model_B.sf_MATLABFunction2.z;
9411 dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t825 *
9412 dx_hand_model_B.sf_MATLABFunction2.z;
9413 dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t1226 *
9414 dx_hand_model_B.sf_MATLABFunction2.z;
9415 dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t802 *
9416 dx_hand_model_B.sf_MATLABFunction_h.z;
9417 dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t765_re *
9418 dx_hand_model_B.sf_MATLABFunction_h.z;
9419 dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t790 *
9420 dx_hand_model_B.sf_MATLABFunction2.z;
9421 dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.t769_re *
9422 dx_hand_model_B.sf_MATLABFunction_h.z;
9423 dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.t771_re *
9424 dx_hand_model_B.sf_MATLABFunction_h.z;
9425 dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.t773_re *
9426 dx_hand_model_B.sf_MATLABFunction2.z;
9427 dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.t16_e *
9428 dx_hand_model_B.sf_MATLABFunction_h.z;
9429 dx_hand_model_B.t987_re = dx_hand_model_B.t3 *
9430 dx_hand_model_B.sf_MATLABFunction1_g.z;
9431 dx_hand_model_B.t832_re = dx_hand_model_B.t14_a *
9432 dx_hand_model_B.sf_MATLABFunction2.z;
9433 dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t17_f *
9434 dx_hand_model_B.sf_MATLABFunction_h.z;
9435 dx_hand_model_B.t833_re = dx_hand_model_B.t1313 *
9436 dx_hand_model_B.sf_MATLABFunction1_g.z;
9437 dx_hand_model_B.t821 = dx_hand_model_B.t13_b *
9438 dx_hand_model_B.sf_MATLABFunction2.z;
9439 dx_hand_model_B.t834_re = dx_hand_model_B.t1251 *
9440 dx_hand_model_B.sf_MATLABFunction1_g.z;
9441 dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.t1261 *
9442 dx_hand_model_B.sf_MATLABFunction1_g.z;
9443 dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.t1328 *
9444 dx_hand_model_B.sf_MATLABFunction1_g.z;
9445 dx_hand_model_B.t820 = dx_hand_model_B.t739 *
9446 dx_hand_model_B.sf_MATLABFunction1_g.z;
9447 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *=
9448 dx_hand_model_B.sf_MATLABFunction1_g.z;
9449 dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.t752 *
9450 dx_hand_model_B.sf_MATLABFunction1_g.z;
9451 dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.t754 *
9452 dx_hand_model_B.sf_MATLABFunction_h.z;
9453 dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.t755 *
9454 dx_hand_model_B.sf_MATLABFunction_h.z;
9455 dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.t761_re *
9456 dx_hand_model_B.sf_MATLABFunction_h.z;
9457 dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t757_re *
9458 dx_hand_model_B.sf_MATLABFunction_h.z;
9459 dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.t760_re *
9460 dx_hand_model_B.sf_MATLABFunction_h.z;
9461 dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.t758_re *
9462 dx_hand_model_B.sf_MATLABFunction_h.z;
9463 dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.t759_re *
9464 dx_hand_model_B.sf_MATLABFunction_h.z;
9465 dx_hand_model_B.t815 = dx_hand_model_B.t762_re *
9466 dx_hand_model_B.sf_MATLABFunction_h.z;
9467 dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t758_re *
9468 dx_hand_model_B.sf_MATLABFunction2.z;
9469 dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.t804 *
9470 dx_hand_model_B.sf_MATLABFunction_h.z;
9471 dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.t759_re *
9472 dx_hand_model_B.sf_MATLABFunction2.z;
9473 dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t803 *
9474 dx_hand_model_B.sf_MATLABFunction_h.z;
9475 dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.t804 *
9476 dx_hand_model_B.sf_MATLABFunction2.z;
9477 dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.t803 *
9478 dx_hand_model_B.sf_MATLABFunction2.z;
9479 dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.t835_re *
9480 dx_hand_model_B.sf_MATLABFunction_h.z;
9481 dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.t822 *
9482 dx_hand_model_B.sf_MATLABFunction_h.z;
9483 dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.t836_re *
9484 dx_hand_model_B.sf_MATLABFunction_h.z;
9485 dx_hand_model_B.t813 = dx_hand_model_B.t797 *
9486 dx_hand_model_B.sf_MATLABFunction2.z;
9487 dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.t764_re *
9488 dx_hand_model_B.sf_MATLABFunction_h.z;
9489 dx_hand_model_B.t812 = dx_hand_model_B.t796 *
9490 dx_hand_model_B.sf_MATLABFunction2.z;
9491 dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.t823 *
9492 dx_hand_model_B.sf_MATLABFunction_h.z;
9493 dx_hand_model_B.t810 = dx_hand_model_B.t770_re *
9494 dx_hand_model_B.sf_MATLABFunction2.z;
9495 dx_hand_model_B.t808 = dx_hand_model_B.t772_re *
9496 dx_hand_model_B.sf_MATLABFunction2.z;
9497 dx_hand_model_B.t776 = dx_hand_model_B.tmp_tmp_m1 *
9498 dx_hand_model_B.sf_MATLABFunction1_g.z;
9499 dx_hand_model_B.t779 = dx_hand_model_B.tmp_tmp_cx *
9500 dx_hand_model_B.sf_MATLABFunction1_g.z;
9501 dx_hand_model_B.t780 = dx_hand_model_B.t825 *
9502 dx_hand_model_B.sf_MATLABFunction_h.z;
9503 dx_hand_model_B.t781 = dx_hand_model_B.t839_re *
9504 dx_hand_model_B.sf_MATLABFunction2.z;
9505 dx_hand_model_B.t782 = dx_hand_model_B.t826_re *
9506 dx_hand_model_B.sf_MATLABFunction1_g.z;
9507 dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.t840_re *
9508 dx_hand_model_B.sf_MATLABFunction1_g.z;
9509 dx_hand_model_B.t785 = dx_hand_model_B.t841_re *
9510 dx_hand_model_B.sf_MATLABFunction1_g.z;
9511 dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t16_e *
9512 dx_hand_model_B.sf_MATLABFunction1_g.z;
9513 dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.t17_f *
9514 dx_hand_model_B.sf_MATLABFunction1_g.z;
9515 dx_hand_model_B.tmp_tmp_kv = dx_hand_model_B.t1251 *
9516 dx_hand_model_B.sf_MATLABFunction_h.z;
9517 dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.t842_re *
9518 dx_hand_model_B.sf_MATLABFunction_h.z;
9519 dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.t1328 *
9520 dx_hand_model_B.sf_MATLABFunction_h.z;
9521 dx_hand_model_B.t1212 *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9522 dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.t739 *
9523 dx_hand_model_B.sf_MATLABFunction_h.z;
9524 dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.tmp_tmp_c5 *
9525 dx_hand_model_B.sf_MATLABFunction_h.z;
9526 dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.t752 *
9527 dx_hand_model_B.sf_MATLABFunction_h.z;
9528 dx_hand_model_B.xD1_tmp_tmp *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9529 dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t754 *
9530 dx_hand_model_B.sf_MATLABFunction1_g.z;
9531 dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.t755 *
9532 dx_hand_model_B.sf_MATLABFunction2.z;
9533 dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.t761_re *
9534 dx_hand_model_B.sf_MATLABFunction2.z;
9535 dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t757_re *
9536 dx_hand_model_B.sf_MATLABFunction1_g.z;
9537 dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t760_re *
9538 dx_hand_model_B.sf_MATLABFunction1_g.z;
9539 dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.t762_re *
9540 dx_hand_model_B.sf_MATLABFunction1_g.z;
9541 dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.t763_re *
9542 dx_hand_model_B.sf_MATLABFunction1_g.z;
9543 dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.t802 *
9544 dx_hand_model_B.sf_MATLABFunction1_g.z;
9545 dx_hand_model_B.xD1_tmp = dx_hand_model_B.t790 *
9546 dx_hand_model_B.sf_MATLABFunction_h.z;
9547 dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.t765_re *
9548 dx_hand_model_B.sf_MATLABFunction2.z;
9549 dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.t835_re *
9550 dx_hand_model_B.sf_MATLABFunction1_g.z;
9551 dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t822 *
9552 dx_hand_model_B.sf_MATLABFunction2.z;
9553 dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t836_re *
9554 dx_hand_model_B.sf_MATLABFunction1_g.z;
9555 dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.t764_re *
9556 dx_hand_model_B.sf_MATLABFunction2.z;
9557 dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.t768_re *
9558 dx_hand_model_B.sf_MATLABFunction1_g.z;
9559 dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.t769_re *
9560 dx_hand_model_B.sf_MATLABFunction1_g.z;
9561 dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t773_re *
9562 dx_hand_model_B.sf_MATLABFunction_h.z;
9563 dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.t771_re *
9564 dx_hand_model_B.sf_MATLABFunction2.z;
9565 dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.t823 *
9566 dx_hand_model_B.sf_MATLABFunction1_g.z;
9567 dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
9568 dx_hand_model_B.sf_MATLABFunction1_g.z;
9569 dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.t837_re *
9570 dx_hand_model_B.sf_MATLABFunction1_g.z;
9571 dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.t838_re *
9572 dx_hand_model_B.sf_MATLABFunction1_g.z;
9573 dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.t824 *
9574 dx_hand_model_B.sf_MATLABFunction1_g.z;
9575 dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.t839_re *
9576 dx_hand_model_B.sf_MATLABFunction_h.z;
9577 dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.t826_re *
9578 dx_hand_model_B.sf_MATLABFunction_h.z;
9579 dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.t825 *
9580 dx_hand_model_B.sf_MATLABFunction1_g.z;
9581 dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.t841_re *
9582 dx_hand_model_B.sf_MATLABFunction_h.z;
9583 dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.t827_re *
9584 dx_hand_model_B.sf_MATLABFunction_h.z;
9585 dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.t828_re *
9586 dx_hand_model_B.sf_MATLABFunction_h.z;
9587 dx_hand_model_B.t1226 *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9588 dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t827_re *
9589 dx_hand_model_B.sf_MATLABFunction2.z;
9590 dx_hand_model_B.t11_e = dx_hand_model_B.t1309 *
9591 dx_hand_model_B.sf_MATLABFunction1_g.x;
9592 dx_hand_model_B.tmp_tmp_tmp_om = dx_hand_model_B.t1313 *
9593 dx_hand_model_B.sf_MATLABFunction2.x;
9594 dx_hand_model_B.t20_c = dx_hand_model_B.tmp_tmp_tmp_om *
9595 dx_hand_model_B.sf_MATLABFunction1_g.x;
9596 dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.Sum_nf *
9597 dx_hand_model_B.sf_MATLABFunction_h.x;
9598 dx_hand_model_B.tmp_tmp_l0 = dx_hand_model_B.tmp_tmp_nn *
9599 dx_hand_model_B.sf_MATLABFunction2.x;
9600 dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.DataTypeConversion5_n *
9601 dx_hand_model_B.sf_MATLABFunction_h.y;
9602 dx_hand_model_B.rtb_xH_sol_idx_0_re = dx_hand_model_B.tmp_tmp_ce *
9603 dx_hand_model_B.sf_MATLABFunction2.y;
9604 dx_hand_model_B.rtb_zH_sol_idx_0_re = dx_hand_model_B.tmp_tmp_nn *
9605 dx_hand_model_B.sf_MATLABFunction1_g.x;
9606 dx_hand_model_B.rtb_zH_sol_idx_1_re = dx_hand_model_B.tmp_tmp_ce *
9607 dx_hand_model_B.sf_MATLABFunction1_g.y;
9608 dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.t3 *
9609 dx_hand_model_B.sf_MATLABFunction_h.y;
9610 dx_hand_model_B.tmp_tmp_fq = dx_hand_model_B.tmp_tmp_nn *
9611 dx_hand_model_B.sf_MATLABFunction2.y;
9612 dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.DataTypeConversion5_n *
9613 dx_hand_model_B.sf_MATLABFunction2.y;
9614 dx_hand_model_B.tmp_tmp_nl = dx_hand_model_B.tmp_tmp_ce *
9615 dx_hand_model_B.sf_MATLABFunction1_g.y;
9616 dx_hand_model_B.tmp_tmp_tmp_p5 = dx_hand_model_B.t14_a *
9617 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y;
9618 dx_hand_model_B.tmp_tmp_iu = dx_hand_model_B.tmp_tmp_nn *
9619 dx_hand_model_B.sf_MATLABFunction1_g.y;
9620 dx_hand_model_B.tmp_tmp_i3r = dx_hand_model_B.t3 *
9621 dx_hand_model_B.sf_MATLABFunction2.y;
9622 dx_hand_model_B.tmp_tmp_il = dx_hand_model_B.tmp_tmp_i3r *
9623 dx_hand_model_B.sf_MATLABFunction1_g.y;
9624 dx_hand_model_B.tmp_tmp_fa = dx_hand_model_B.t13_b *
9625 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y;
9626 dx_hand_model_B.tmp_tmp_ji = dx_hand_model_B.t10_j *
9627 dx_hand_model_B.sf_MATLABFunction1_g.y;
9628 dx_hand_model_B.tmp_tmp_oo = dx_hand_model_B.t4_o *
9629 dx_hand_model_B.sf_MATLABFunction2.y;
9630 dx_hand_model_B.tmp_tmp_fr = dx_hand_model_B.tmp_tmp_oo *
9631 dx_hand_model_B.sf_MATLABFunction1_g.y;
9632 dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.Sum_nf *
9633 dx_hand_model_B.sf_MATLABFunction_h.y;
9634 dx_hand_model_B.rtb_xH_sol_idx_1_re = dx_hand_model_B.tmp_tmp_oyy *
9635 dx_hand_model_B.sf_MATLABFunction2.y;
9636 dx_hand_model_B.t9_l = dx_hand_model_B.tmp_tmp_oyy *
9637 dx_hand_model_B.sf_MATLABFunction1_g.y;
9638 dx_hand_model_B.tmp_tmp_tmp_j5 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
9639 dx_hand_model_B.sf_MATLABFunction_h.y;
9640 dx_hand_model_B.tmp_tmp_ln = dx_hand_model_B.tmp_tmp_tmp_j5 *
9641 dx_hand_model_B.sf_MATLABFunction1_g.y;
9642 dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.tmp_tmp_m1 *
9643 dx_hand_model_B.sf_MATLABFunction_h.y;
9644 dx_hand_model_B.tmp_tmp_lu = dx_hand_model_B.tmp_tmp_oyy *
9645 dx_hand_model_B.sf_MATLABFunction2.y;
9646 dx_hand_model_B.tmp_tmp_gf = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
9647 dx_hand_model_B.sf_MATLABFunction2.y *
9648 dx_hand_model_B.sf_MATLABFunction1_g.y;
9649 dx_hand_model_B.tmp_tmp_dv = dx_hand_model_B.t837_re *
9650 dx_hand_model_B.sf_MATLABFunction_h.y;
9651 dx_hand_model_B.tmp_tmp_jo = dx_hand_model_B.tmp_tmp_dv *
9652 dx_hand_model_B.sf_MATLABFunction2.y;
9653 dx_hand_model_B.tmp_tmp_f1s = dx_hand_model_B.tmp_tmp_m1 *
9654 dx_hand_model_B.sf_MATLABFunction2.y *
9655 dx_hand_model_B.sf_MATLABFunction1_g.y;
9656 dx_hand_model_B.tmp_tmp_js = dx_hand_model_B.tmp_tmp_dv *
9657 dx_hand_model_B.sf_MATLABFunction1_g.y;
9658 dx_hand_model_B.t29_c = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
9659 dx_hand_model_B.sf_MATLABFunction_h.z;
9660 dx_hand_model_B.t27_m = dx_hand_model_B.tmp_tmp_m1 *
9661 dx_hand_model_B.sf_MATLABFunction_h.z;
9662 dx_hand_model_B.tmp_tmp_tmp_a = dx_hand_model_B.t27_m *
9663 dx_hand_model_B.sf_MATLABFunction2.z;
9664 dx_hand_model_B.tmp_tmp_ho = dx_hand_model_B.t775 *
9665 dx_hand_model_B.sf_MATLABFunction2.z;
9666 dx_hand_model_B.t25_h = dx_hand_model_B.t838_re *
9667 dx_hand_model_B.sf_MATLABFunction_h.z;
9668 dx_hand_model_B.t28_h = dx_hand_model_B.tmp_tmp_cx *
9669 dx_hand_model_B.sf_MATLABFunction_h.z;
9670 dx_hand_model_B.tmp_tmp_nu = dx_hand_model_B.t28_h *
9671 dx_hand_model_B.sf_MATLABFunction2.z;
9672 dx_hand_model_B.tmp_tmp_ki = dx_hand_model_B.t778 *
9673 dx_hand_model_B.sf_MATLABFunction2.z;
9674 dx_hand_model_B.tmp_tmp_fn = dx_hand_model_B.t15_g *
9675 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x;
9676 dx_hand_model_B.tmp_tmp_jz = dx_hand_model_B.t15_g *
9677 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y;
9678 dx_hand_model_B.tmp_tmp_tmp_j5 *= dx_hand_model_B.sf_MATLABFunction2.y;
9679 dx_hand_model_B.tmp_tmp_tmp_jd = dx_hand_model_B.tmp_tmp_oyy *
9680 dx_hand_model_B.sf_MATLABFunction1_g.y;
9681 dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.t837_re *
9682 dx_hand_model_B.sf_MATLABFunction2.y;
9683 dx_hand_model_B.tmp_tmp_kl = dx_hand_model_B.tmp_tmp_oyy *
9684 dx_hand_model_B.sf_MATLABFunction1_g.y;
9685 dx_hand_model_B.tmp_tmp_bn = dx_hand_model_B.t29_c *
9686 dx_hand_model_B.sf_MATLABFunction2.z;
9687 dx_hand_model_B.tmp_tmp_hm = dx_hand_model_B.t25_h *
9688 dx_hand_model_B.sf_MATLABFunction2.z;
9689 dx_hand_model_B.tmp_tmp_ge = dx_hand_model_B.t828_re *
9690 dx_hand_model_B.sf_MATLABFunction2.z;
9691 dx_hand_model_B.tmp_tmp_tmp_cm = dx_hand_model_B.t20_c *
9692 dx_hand_model_B.sf_MATLABFunction2.z;
9693 dx_hand_model_B.t8_h = dx_hand_model_B.tmp_tmp_l0 *
9694 dx_hand_model_B.sf_MATLABFunction2.z;
9695 dx_hand_model_B.t9_tmp_d = dx_hand_model_B.rtb_xH_sol_idx_0_re *
9696 dx_hand_model_B.sf_MATLABFunction2.z;
9697 dx_hand_model_B.t26_tmp_g = dx_hand_model_B.tmp_tmp_fq *
9698 dx_hand_model_B.sf_MATLABFunction2.z;
9699 dx_hand_model_B.tmp_tmp_tmp_oc = dx_hand_model_B.t842_re *
9700 dx_hand_model_B.sf_MATLABFunction2.z;
9701 dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.tmp_tmp_nl *
9702 dx_hand_model_B.sf_MATLABFunction2.z;
9703 dx_hand_model_B.tmp_tmp_tmp_ol = dx_hand_model_B.tmp_tmp_il *
9704 dx_hand_model_B.sf_MATLABFunction2.z;
9705 dx_hand_model_B.t33_tmp = dx_hand_model_B.tmp_tmp_fr *
9706 dx_hand_model_B.sf_MATLABFunction2.z;
9707 dx_hand_model_B.t34_tmp = dx_hand_model_B.rtb_xH_sol_idx_1_re *
9708 dx_hand_model_B.sf_MATLABFunction2.z;
9709 dx_hand_model_B.tmp_tmp_tmp_h = dx_hand_model_B.tmp_tmp_c5 *
9710 dx_hand_model_B.sf_MATLABFunction2.z;
9711 dx_hand_model_B.tmp_tmp_f1 = dx_hand_model_B.tmp_tmp_ln *
9712 dx_hand_model_B.sf_MATLABFunction2.z;
9713 dx_hand_model_B.tmp_tmp_if = dx_hand_model_B.tmp_tmp_lu *
9714 dx_hand_model_B.sf_MATLABFunction2.z;
9715 dx_hand_model_B.tmp_tmp_gbr = dx_hand_model_B.t11_e *
9716 dx_hand_model_B.sf_MATLABFunction2.z;
9717 dx_hand_model_B.tmp_tmp_tmp_i = dx_hand_model_B.rtb_zH_sol_idx_0_re *
9718 dx_hand_model_B.sf_MATLABFunction2.z;
9719 dx_hand_model_B.t10_tmp = dx_hand_model_B.rtb_zH_sol_idx_1_re *
9720 dx_hand_model_B.sf_MATLABFunction2.z;
9721 dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_iu *
9722 dx_hand_model_B.sf_MATLABFunction2.z;
9723 dx_hand_model_B.t1256_tmp = dx_hand_model_B.tmp_tmp_ji *
9724 dx_hand_model_B.sf_MATLABFunction2.z;
9725 dx_hand_model_B.t24_a = dx_hand_model_B.t9_l *
9726 dx_hand_model_B.sf_MATLABFunction2.z;
9727 dx_hand_model_B.tmp_tmp_bi = dx_hand_model_B.tmp_tmp_gf *
9728 dx_hand_model_B.sf_MATLABFunction2.z;
9729 dx_hand_model_B.tmp_tmp_daj = dx_hand_model_B.tmp_tmp_jo *
9730 dx_hand_model_B.sf_MATLABFunction2.z;
9731 dx_hand_model_B.tmp_tmp_tmp_p = dx_hand_model_B.t828_re *
9732 dx_hand_model_B.sf_MATLABFunction1_g.z;
9733 dx_hand_model_B.tmp_tmp_tmp_kn = dx_hand_model_B.t20_c *
9734 dx_hand_model_B.sf_MATLABFunction1_g.z;
9735 dx_hand_model_B.tmp_tmp_tmp_ca = dx_hand_model_B.tmp_tmp_l0 *
9736 dx_hand_model_B.sf_MATLABFunction1_g.z;
9737 dx_hand_model_B.tmp_tmp_gs = dx_hand_model_B.t830_re *
9738 dx_hand_model_B.sf_MATLABFunction_h.z;
9739 dx_hand_model_B.rtb_xH_sol_idx_0_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9740 dx_hand_model_B.tmp_tmp_ik = dx_hand_model_B.t829_re *
9741 dx_hand_model_B.sf_MATLABFunction1_g.z;
9742 dx_hand_model_B.tmp_tmp_dd = dx_hand_model_B.tmp_tmp_fq *
9743 dx_hand_model_B.sf_MATLABFunction1_g.z;
9744 dx_hand_model_B.tmp_tmp_er = dx_hand_model_B.t830_re *
9745 dx_hand_model_B.sf_MATLABFunction1_g.z;
9746 dx_hand_model_B.tmp_tmp_tmp_ji = dx_hand_model_B.t842_re *
9747 dx_hand_model_B.sf_MATLABFunction1_g.z;
9748 dx_hand_model_B.tmp_tmp_tmp_tmp_a = dx_hand_model_B.tmp_tmp_nl *
9749 dx_hand_model_B.sf_MATLABFunction1_g.z;
9750 dx_hand_model_B.tmp_tmp_tmp_al = dx_hand_model_B.tmp_tmp_il *
9751 dx_hand_model_B.sf_MATLABFunction1_g.z;
9752 dx_hand_model_B.tmp_tmp_ch = dx_hand_model_B.tmp_tmp_ji *
9753 dx_hand_model_B.sf_MATLABFunction_h.z;
9754 dx_hand_model_B.tmp_tmp_nm = dx_hand_model_B.tmp_tmp_fa *
9755 dx_hand_model_B.sf_MATLABFunction2.z;
9756 dx_hand_model_B.tmp_tmp_h2 = dx_hand_model_B.tmp_tmp_fr *
9757 dx_hand_model_B.sf_MATLABFunction1_g.z;
9758 dx_hand_model_B.rtb_xH_sol_idx_1_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9759 dx_hand_model_B.tmp_tmp_i3 = dx_hand_model_B.tmp_tmp_da *
9760 dx_hand_model_B.sf_MATLABFunction_h.z;
9761 dx_hand_model_B.tmp_tmp_jr = dx_hand_model_B.t843_re *
9762 dx_hand_model_B.sf_MATLABFunction1_g.z;
9763 dx_hand_model_B.tmp_tmp_db = dx_hand_model_B.tmp_tmp_da *
9764 dx_hand_model_B.sf_MATLABFunction1_g.z;
9765 dx_hand_model_B.tmp_tmp_tmp_d = dx_hand_model_B.tmp_tmp_c5 *
9766 dx_hand_model_B.sf_MATLABFunction1_g.z;
9767 dx_hand_model_B.tmp_tmp_lg = dx_hand_model_B.tmp_tmp_gf *
9768 dx_hand_model_B.sf_MATLABFunction_h.z;
9769 dx_hand_model_B.tmp_tmp_c3 = dx_hand_model_B.tmp_tmp_jo *
9770 dx_hand_model_B.sf_MATLABFunction_h.z;
9771 dx_hand_model_B.tmp_tmp_g4 = dx_hand_model_B.tmp_tmp_ln *
9772 dx_hand_model_B.sf_MATLABFunction1_g.z;
9773 dx_hand_model_B.tmp_tmp_bt = dx_hand_model_B.tmp_tmp_lu *
9774 dx_hand_model_B.sf_MATLABFunction1_g.z;
9775 dx_hand_model_B.tmp_tmp_nhy = dx_hand_model_B.tmp_tmp_f1s *
9776 dx_hand_model_B.sf_MATLABFunction2.z;
9777 dx_hand_model_B.tmp_tmp_hs = dx_hand_model_B.tmp_tmp_js *
9778 dx_hand_model_B.sf_MATLABFunction2.z;
9779 dx_hand_model_B.tmp_tmp_dat = dx_hand_model_B.tmp_tmp_bn *
9780 dx_hand_model_B.sf_MATLABFunction1_g.z;
9781 dx_hand_model_B.tmp_tmp_el = dx_hand_model_B.tmp_tmp_ho *
9782 dx_hand_model_B.sf_MATLABFunction1_g.z;
9783 dx_hand_model_B.tmp_tmp_ds = dx_hand_model_B.tmp_tmp_hm *
9784 dx_hand_model_B.sf_MATLABFunction1_g.z;
9785 dx_hand_model_B.tmp_tmp_kt = dx_hand_model_B.tmp_tmp_ki *
9786 dx_hand_model_B.sf_MATLABFunction1_g.z;
9787 dx_hand_model_B.tmp_tmp_izd = dx_hand_model_B.t20_c *
9788 dx_hand_model_B.sf_MATLABFunction_h.z;
9789 dx_hand_model_B.tmp_tmp_tmp_o = dx_hand_model_B.t11_e *
9790 dx_hand_model_B.sf_MATLABFunction1_g.z;
9791 dx_hand_model_B.tmp_tmp_ez = dx_hand_model_B.t829_re *
9792 dx_hand_model_B.sf_MATLABFunction_h.z;
9793 dx_hand_model_B.tmp_tmp_mz = dx_hand_model_B.tmp_tmp_fq *
9794 dx_hand_model_B.sf_MATLABFunction_h.z;
9795 dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.tmp_tmp_nl *
9796 dx_hand_model_B.sf_MATLABFunction_h.z;
9797 dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_tmp_p5 *
9798 dx_hand_model_B.sf_MATLABFunction_h.z;
9799 dx_hand_model_B.rtb_zH_sol_idx_0_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9800 dx_hand_model_B.rtb_zH_sol_idx_1_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9801 dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_fn *
9802 dx_hand_model_B.sf_MATLABFunction2.z;
9803 dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.tmp_tmp_il *
9804 dx_hand_model_B.sf_MATLABFunction_h.z;
9805 dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_tmp_p5 *
9806 dx_hand_model_B.sf_MATLABFunction2.z;
9807 dx_hand_model_B.tmp_tmp_tmp_py = dx_hand_model_B.tmp_tmp_iu *
9808 dx_hand_model_B.sf_MATLABFunction1_g.z;
9809 dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.t831_re *
9810 dx_hand_model_B.sf_MATLABFunction1_g.z;
9811 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_fa *
9812 dx_hand_model_B.sf_MATLABFunction_h.z;
9813 dx_hand_model_B.t34_a = dx_hand_model_B.tmp_tmp_fr *
9814 dx_hand_model_B.sf_MATLABFunction_h.z;
9815 dx_hand_model_B.t33_p = dx_hand_model_B.tmp_tmp_ji *
9816 dx_hand_model_B.sf_MATLABFunction1_g.z;
9817 dx_hand_model_B.t31_p = dx_hand_model_B.t843_re *
9818 dx_hand_model_B.sf_MATLABFunction_h.z;
9819 dx_hand_model_B.t9_l *= dx_hand_model_B.sf_MATLABFunction1_g.z;
9820 dx_hand_model_B.t30_k = dx_hand_model_B.tmp_tmp_jz *
9821 dx_hand_model_B.sf_MATLABFunction2.z;
9822 dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_jw *
9823 dx_hand_model_B.sf_MATLABFunction2.z *
9824 dx_hand_model_B.sf_MATLABFunction1_g.z;
9825 dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.tmp_tmp_pie *
9826 dx_hand_model_B.sf_MATLABFunction1_g.z;
9827 dx_hand_model_B.tmp_tmp_tmp_tmp = dx_hand_model_B.tmp_tmp_ob *
9828 dx_hand_model_B.sf_MATLABFunction2.z *
9829 dx_hand_model_B.sf_MATLABFunction1_g.z;
9830 dx_hand_model_B.tmp_tmp_tmp_ok = dx_hand_model_B.tmp_tmp_tmp_j5 *
9831 dx_hand_model_B.sf_MATLABFunction1_g.z;
9832 dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp_jd *
9833 dx_hand_model_B.sf_MATLABFunction2.z;
9834 dx_hand_model_B.tmp_tmp_tmp = dx_hand_model_B.tmp_tmp_gf *
9835 dx_hand_model_B.sf_MATLABFunction1_g.z;
9836 dx_hand_model_B.tmp_tmp_tmp_b = dx_hand_model_B.tmp_tmp_jo *
9837 dx_hand_model_B.sf_MATLABFunction1_g.z;
9838 dx_hand_model_B.tmp_tmp_g3 = dx_hand_model_B.tmp_tmp_kl *
9839 dx_hand_model_B.sf_MATLABFunction2.z;
9840 dx_hand_model_B.tmp_tmp_tmp_c1 = dx_hand_model_B.tmp_tmp_tmp_a *
9841 dx_hand_model_B.sf_MATLABFunction1_g.z;
9842 dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.tmp_tmp_nu *
9843 dx_hand_model_B.sf_MATLABFunction1_g.z;
9844 dx_hand_model_B.t18_h =
9845 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
9846 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
9847 (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_be *
9848 8.0F + dx_hand_model_B.tmp_tmp_m4e * 4.0F) + dx_hand_model_B.tmp_tmp_ktf *
9849 4.0F) + dx_hand_model_B.tmp_tmp_a0x * 4.0F) + dx_hand_model_B.tmp_tmp_os *
9850 8.0F) + dx_hand_model_B.tmp_tmp_jkx * 4.0F) + dx_hand_model_B.tmp_tmp_kbp *
9851 4.0F) + dx_hand_model_B.tmp_tmp_hj5 * 4.0F) - dx_hand_model_B.tmp_tmp_jw *
9852 14916.0F) + dx_hand_model_B.tmp_tmp_d1 * 4.0F) - dx_hand_model_B.tmp_tmp_d4 *
9853 14916.0F) + dx_hand_model_B.t987_re * 14916.0F) + dx_hand_model_B.t832_re *
9854 14916.0F) - dx_hand_model_B.xD1_tmp_tmp_i * 4.0F) -
9855 dx_hand_model_B.tmp_tmp_ob * 14916.0F) + dx_hand_model_B.tmp_tmp_j1 * 4.0F)
9856 - dx_hand_model_B.tmp_tmp_ey * 14916.0F) + dx_hand_model_B.t833_re *
9857 14916.0F) + dx_hand_model_B.t821 * 14916.0F) - dx_hand_model_B.xD1_tmp_tmp_c
9858 * 4.0F) - dx_hand_model_B.tmp_tmp_kv * 8.0F) - dx_hand_model_B.t1248 * 4.0F)
9859 - dx_hand_model_B.t1250 * 4.0F) - dx_hand_model_B.t1252 * 4.0F) -
9860 dx_hand_model_B.tmp_tmp_cy * 12.0F) + dx_hand_model_B.t834_re * 12.0F) -
9861 dx_hand_model_B.tmp_tmp_jk * 8.0F) + dx_hand_model_B.tmp_tmp_n * 4.0F) +
9862 dx_hand_model_B.JTcomp_idx_3_tmp_my * 4.0F) - dx_hand_model_B.tmp_tmp_fz *
9863 8.0F) - dx_hand_model_B.t1212 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *
9864 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n * 4.0F) +
9865 dx_hand_model_B.tmp_tmp_cg * 4.0F) - dx_hand_model_B.tmp_tmp_cm * 8.0F) -
9866 dx_hand_model_B.t1253 * 4.0F) - dx_hand_model_B.t1254 * 4.0F) -
9867 dx_hand_model_B.t1255 * 4.0F) - dx_hand_model_B.tmp_tmp_kq * 12.0F) +
9868 dx_hand_model_B.t820 * 12.0F) - dx_hand_model_B.tmp_tmp_fnt * 8.0F) +
9869 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 4.0F) +
9870 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e * 4.0F) - dx_hand_model_B.tmp_tmp_iv *
9871 8.0F) - dx_hand_model_B.xD1_tmp_tmp * 4.0F) + dx_hand_model_B.tmp_tmp_dn *
9872 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * 4.0F) +
9873 dx_hand_model_B.tmp_tmp_fx * 4.0F) + dx_hand_model_B.tmp_tmp_pm * 4.0F) +
9874 dx_hand_model_B.tmp_tmp_nj * 4.0F) + dx_hand_model_B.t819 * 8.0F) -
9875 dx_hand_model_B.tmp_tmp_nnx * 12.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp *
9876 4.0F) + dx_hand_model_B.tmp_tmp_k * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp
9877 * 4.0F) + dx_hand_model_B.tmp_tmp_n3 * 4.0F) + dx_hand_model_B.tmp_tmp_oy *
9878 4.0F) + dx_hand_model_B.tmp_tmp_gg * 4.0F) + dx_hand_model_B.tmp_tmp_cq *
9879 4.0F) + dx_hand_model_B.t818 * 8.0F) + dx_hand_model_B.t817 * 8.0F) +
9880 dx_hand_model_B.t815 * 8.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_f * 4.0F) +
9881 dx_hand_model_B.tmp_tmp_jp * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_h *
9882 4.0F) + dx_hand_model_B.tmp_tmp_kn * 4.0F) + dx_hand_model_B.tmp_tmp_mx *
9883 4.0F) + dx_hand_model_B.tmp_tmp_pr * 4.0F) - dx_hand_model_B.tmp_tmp_he *
9884 8.0F) + dx_hand_model_B.tmp_tmp_d * 4.0F) + dx_hand_model_B.tmp_tmp_dx *
9885 4.0F) + dx_hand_model_B.tmp_tmp_g4k * 4.0F) + dx_hand_model_B.tmp_tmp_o30 *
9886 4.0F) + dx_hand_model_B.tmp_tmp_b * 4.0F) + dx_hand_model_B.t814 * 8.0F) +
9887 dx_hand_model_B.t813 * 8.0F) - dx_hand_model_B.tmp_tmp_hz * 16.0F) -
9888 dx_hand_model_B.JTcomp_idx_3_tmp_m * 4.0F) - dx_hand_model_B.xD1_tmp * 4.0F)
9889 - dx_hand_model_B.xD1_tmp_i * 4.0F) - dx_hand_model_B.tmp_tmp_nq * 12.0F) -
9890 dx_hand_model_B.xD1_tmp_tmp_m * 4.0F) + dx_hand_model_B.tmp_tmp_pw * 4.0F) +
9891 dx_hand_model_B.t812 * 8.0F) - dx_hand_model_B.xD1_tmp_p * 4.0F) -
9892 dx_hand_model_B.xD1_tmp_f * 4.0F) + dx_hand_model_B.tmp_tmp_pi * 4.0F) +
9893 dx_hand_model_B.t810 * 8.0F) - dx_hand_model_B.tmp_tmp_mi * 16.0F) -
9894 dx_hand_model_B.xD1_tmp_tmp_o * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_a *
9895 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_k * 4.0F) + dx_hand_model_B.t808 *
9896 8.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_p * 4.0F) + dx_hand_model_B.t774 *
9897 14916.0F) - dx_hand_model_B.tmp_tmp_kuk * 14916.0F) -
9898 dx_hand_model_B.tmp_tmp_fc * 14916.0F) + dx_hand_model_B.t775 * 29832.0F) +
9899 dx_hand_model_B.t776 * 14916.0F) - dx_hand_model_B.tmp_tmp_eh * 14916.0F) -
9900 dx_hand_model_B.tmp_tmp_jkf * 14916.0F) + dx_hand_model_B.t777 * 14916.0F) -
9901 dx_hand_model_B.tmp_tmp_hc * 14916.0F) - dx_hand_model_B.tmp_tmp_al *
9902 14916.0F) + dx_hand_model_B.t778 * 29832.0F) + dx_hand_model_B.t779 *
9903 14916.0F) - dx_hand_model_B.tmp_tmp_bs * 14916.0F) -
9904 dx_hand_model_B.tmp_tmp_f2 * 14916.0F) - dx_hand_model_B.tmp_tmp_dy * 8.0F)
9905 + dx_hand_model_B.t780 * 16.0F) - dx_hand_model_B.tmp_tmp_li * 8.0F) +
9906 dx_hand_model_B.t781 * 8.0F) - dx_hand_model_B.xD1_tmp_tmp_k * 4.0F) -
9907 dx_hand_model_B.t1312 * 4.0F) - dx_hand_model_B.tmp_tmp_kg * 12.0F) +
9908 dx_hand_model_B.t782 * 12.0F) - dx_hand_model_B.xD1_tmp_o * 4.0F) -
9909 dx_hand_model_B.tmp_tmp_ft * 8.0F) + dx_hand_model_B.tmp_tmp_lm5 * 4.0F) -
9910 dx_hand_model_B.tmp_tmp_gd * 8.0F) + dx_hand_model_B.tmp_tmp_bf * 4.0F) -
9911 dx_hand_model_B.tmp_tmp_jc * 8.0F) - dx_hand_model_B.t1226 * 4.0F) -
9912 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * 4.0F) + dx_hand_model_B.t785 * 12.0F)
9913 - dx_hand_model_B.tmp_tmp_cqr * 8.0F) - dx_hand_model_B.tmp_tmp_gbr * 12.0F)
9914 - dx_hand_model_B.tmp_tmp_ge * 12.0F) - dx_hand_model_B.tmp_tmp_izd * 8.0F)
9915 - dx_hand_model_B.tmp_tmp_tmp_o * 4.0F) + dx_hand_model_B.tmp_tmp_tmp_p *
9916 4.0F) + dx_hand_model_B.tmp_tmp_tmp_cm * 4.0F) +
9917 dx_hand_model_B.tmp_tmp_tmp_kn * 4.0F) - dx_hand_model_B.tmp_tmp_ez * 8.0F)
9918 - dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.t9_tmp_d * 4.0F) -
9919 dx_hand_model_B.tmp_tmp_mz * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_ca * 4.0F)
9920 + dx_hand_model_B.tmp_tmp_gs * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_i * 4.0F)
9921 + dx_hand_model_B.rtb_xH_sol_idx_0_re * 4.0F) + dx_hand_model_B.t10_tmp *
9922 4.0F) - dx_hand_model_B.tmp_tmp_og * 8.0F) - dx_hand_model_B.tmp_tmp_hnt *
9923 8.0F) - dx_hand_model_B.rtb_zH_sol_idx_0_re * 4.0F) -
9924 dx_hand_model_B.rtb_zH_sol_idx_1_re * 4.0F) - dx_hand_model_B.t26_tmp_g *
9925 4.0F) - dx_hand_model_B.tmp_tmp_oc * 16.0F) + dx_hand_model_B.tmp_tmp_ik *
9926 20.0F) + dx_hand_model_B.tmp_tmp_tmp_oc * 4.0F) - dx_hand_model_B.tmp_tmp_hi
9927 * 12.0F) + dx_hand_model_B.tmp_tmp_dd * 12.0F) - dx_hand_model_B.tmp_tmp_axm
9928 * 12.0F) - dx_hand_model_B.tmp_tmp_tmp_k * 8.0F) -
9929 dx_hand_model_B.tmp_tmp_jzu * 8.0F) + dx_hand_model_B.tmp_tmp_er * 12.0F) +
9930 dx_hand_model_B.tmp_tmp_tmp_ji * 4.0F) + dx_hand_model_B.tmp_tmp_tmp_tmp_a *
9931 4.0F) - dx_hand_model_B.tmp_tmp_tmp_py * 4.0F) +
9932 dx_hand_model_B.tmp_tmp_tmp_ol * 4.0F) - dx_hand_model_B.tmp_tmp_tmp_eb *
9933 12.0F) + dx_hand_model_B.tmp_tmp_tmp_al * 4.0F) -
9934 dx_hand_model_B.tmp_tmp_tmp_j * 8.0F) + dx_hand_model_B.tmp_tmp_ch * 16.0F)
9935 - dx_hand_model_B.t34_a * 8.0F) + dx_hand_model_B.tmp_tmp_nm * 8.0F) -
9936 dx_hand_model_B.t1256_tmp * 4.0F) - dx_hand_model_B.t33_tmp * 4.0F) -
9937 dx_hand_model_B.t33_p * 12.0F) + dx_hand_model_B.tmp_tmp_h2 * 12.0F) -
9938 dx_hand_model_B.t31_p * 8.0F) - dx_hand_model_B.t34_tmp * 4.0F) +
9939 dx_hand_model_B.rtb_xH_sol_idx_1_re * 4.0F) + dx_hand_model_B.tmp_tmp_i3 *
9940 8.0F) + dx_hand_model_B.t24_a * 4.0F) - dx_hand_model_B.t9_l * 4.0F) -
9941 dx_hand_model_B.t30_k * 16.0F) + dx_hand_model_B.tmp_tmp_jr * 20.0F) +
9942 dx_hand_model_B.tmp_tmp_tmp_h * 4.0F) - dx_hand_model_B.tmp_tmp_tmp_tmp_g *
9943 8.0F) + dx_hand_model_B.tmp_tmp_db * 12.0F) + dx_hand_model_B.tmp_tmp_tmp_d *
9944 4.0F) - dx_hand_model_B.tmp_tmp_tmp_o2 * 12.0F) -
9945 dx_hand_model_B.tmp_tmp_tmp_tmp * 8.0F) - dx_hand_model_B.tmp_tmp_tmp_ok *
9946 16.0F) + dx_hand_model_B.tmp_tmp_f1 * 8.0F) + dx_hand_model_B.tmp_tmp_lg *
9947 16.0F) + dx_hand_model_B.tmp_tmp_if * 8.0F) +
9948 dx_hand_model_B.tmp_tmp_c3 * 16.0F) +
9949 dx_hand_model_B.tmp_tmp_g4 * 8.0F) +
9950 dx_hand_model_B.tmp_tmp_bt * 8.0F) -
9951 dx_hand_model_B.tmp_tmp_tmp_g * 16.0F) +
9952 dx_hand_model_B.tmp_tmp_bi * 8.0F) + dx_hand_model_B.tmp_tmp_daj
9953 * 8.0F) - dx_hand_model_B.tmp_tmp_tmp * 8.0F) +
9954 dx_hand_model_B.tmp_tmp_nhy * 16.0F) -
9955 dx_hand_model_B.tmp_tmp_tmp_b * 8.0F) + dx_hand_model_B.tmp_tmp_hs *
9956 16.0F) - dx_hand_model_B.tmp_tmp_g3 * 16.0F) +
9957 dx_hand_model_B.tmp_tmp_dat * 8.0F) - dx_hand_model_B.tmp_tmp_tmp_c1 *
9958 8.0F) + dx_hand_model_B.tmp_tmp_el * 8.0F) + dx_hand_model_B.tmp_tmp_ds *
9959 8.0F) - dx_hand_model_B.tmp_tmp_tmp_c * 8.0F) + dx_hand_model_B.tmp_tmp_kt
9960 * 8.0F;
9961 dx_hand_model_B.t749 = dx_hand_model_B.tmp_tmp_fc *
9962 dx_hand_model_B.sf_MATLABFunction1_g.z;
9963 dx_hand_model_B.t32_p = dx_hand_model_B.tmp_tmp_al *
9964 dx_hand_model_B.sf_MATLABFunction1_g.z;
9965 dx_hand_model_B.t19_e = dx_hand_model_B.t774 *
9966 dx_hand_model_B.sf_MATLABFunction1_g.z;
9967 dx_hand_model_B.tmp_tmp_eg = dx_hand_model_B.tmp_tmp_eh *
9968 dx_hand_model_B.sf_MATLABFunction1_g.z;
9969 dx_hand_model_B.tmp_tmp_tmp_jk = dx_hand_model_B.t777 *
9970 dx_hand_model_B.sf_MATLABFunction1_g.z;
9971 dx_hand_model_B.tmp_tmp_hn = dx_hand_model_B.tmp_tmp_bs *
9972 dx_hand_model_B.sf_MATLABFunction1_g.z;
9973 dx_hand_model_B.tmp_tmp_tmp_m = dx_hand_model_B.t29_c *
9974 dx_hand_model_B.sf_MATLABFunction1_g.z;
9975 dx_hand_model_B.tmp_tmp_ku = dx_hand_model_B.t775 *
9976 dx_hand_model_B.sf_MATLABFunction1_g.z;
9977 dx_hand_model_B.tmp_tmp_ooe = dx_hand_model_B.t25_h *
9978 dx_hand_model_B.sf_MATLABFunction1_g.z;
9979 dx_hand_model_B.tmp_tmp_hw = dx_hand_model_B.t778 *
9980 dx_hand_model_B.sf_MATLABFunction1_g.z;
9981 dx_hand_model_B.tmp_tmp_iy = dx_hand_model_B.DataTypeConversion5_n *
9982 dx_hand_model_B.sf_MATLABFunction2.z *
9983 dx_hand_model_B.sf_MATLABFunction1_g.z;
9984 dx_hand_model_B.tmp_tmp_pl = dx_hand_model_B.tmp_tmp_jw *
9985 dx_hand_model_B.sf_MATLABFunction1_g.z;
9986 dx_hand_model_B.tmp_tmp_f0 = dx_hand_model_B.tmp_tmp_d4 *
9987 dx_hand_model_B.sf_MATLABFunction2.z;
9988 dx_hand_model_B.tmp_tmp_nh = dx_hand_model_B.t4_o *
9989 dx_hand_model_B.sf_MATLABFunction2.z *
9990 dx_hand_model_B.sf_MATLABFunction1_g.z;
9991 dx_hand_model_B.tmp_tmp_tmp_e = dx_hand_model_B.tmp_tmp_ob *
9992 dx_hand_model_B.sf_MATLABFunction1_g.z;
9993 dx_hand_model_B.tmp_tmp_ho4 = dx_hand_model_B.tmp_tmp_ey *
9994 dx_hand_model_B.sf_MATLABFunction2.z;
9995 dx_hand_model_B.tmp_tmp_hpt = dx_hand_model_B.t27_m *
9996 dx_hand_model_B.sf_MATLABFunction1_g.z;
9997 dx_hand_model_B.tmp_tmp_f4 = dx_hand_model_B.t28_h *
9998 dx_hand_model_B.sf_MATLABFunction1_g.z;
9999 dx_hand_model_B.t25_h =
10000 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t757_re
10001 * 4.0F + dx_hand_model_B.t760_re * 4.0F) + dx_hand_model_B.t758_re * 4.0F) +
10002 dx_hand_model_B.t759_re * 4.0F) + dx_hand_model_B.t804 * 4.0F) +
10003 dx_hand_model_B.t803 * 4.0F) + dx_hand_model_B.t763_re * 4.0F) +
10004 dx_hand_model_B.t802 * 4.0F) + dx_hand_model_B.t797 * 4.0F) +
10005 dx_hand_model_B.t765_re * 4.0F) + dx_hand_model_B.t796 * 4.0F) +
10006 dx_hand_model_B.t790 * 4.0F) + dx_hand_model_B.t768_re * 4.0F) +
10007 dx_hand_model_B.t769_re * 4.0F) + dx_hand_model_B.t770_re * 4.0F) +
10008 dx_hand_model_B.t771_re * 4.0F) + dx_hand_model_B.t772_re * 4.0F) +
10009 dx_hand_model_B.t773_re * 4.0F) + dx_hand_model_B.tmp_tmp_ln * 8.0F) +
10010 dx_hand_model_B.tmp_tmp_lu * 8.0F) + dx_hand_model_B.tmp_tmp_gf * 8.0F) +
10011 dx_hand_model_B.tmp_tmp_jo * 8.0F) + dx_hand_model_B.tmp_tmp_f1s * 8.0F) +
10012 dx_hand_model_B.tmp_tmp_js * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_m * 8.0F) +
10013 dx_hand_model_B.tmp_tmp_tmp_a * 8.0F) + dx_hand_model_B.t19_e * 8.0F) +
10014 dx_hand_model_B.tmp_tmp_ho * 8.0F) + dx_hand_model_B.t749 * 8.0F) +
10015 dx_hand_model_B.tmp_tmp_ku * 8.0F) + dx_hand_model_B.tmp_tmp_ooe * 8.0F) +
10016 dx_hand_model_B.tmp_tmp_nu * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_jk * 8.0F)
10017 + dx_hand_model_B.tmp_tmp_ki * 8.0F) + dx_hand_model_B.t32_p * 8.0F) +
10018 dx_hand_model_B.tmp_tmp_hw * 8.0F) - dx_hand_model_B.t827_re * 8.0F) -
10019 dx_hand_model_B.t11_e * 8.0F) - dx_hand_model_B.t828_re * 8.0F) -
10020 dx_hand_model_B.tmp_tmp_fn * 8.0F) - dx_hand_model_B.t830_re * 8.0F) -
10021 dx_hand_model_B.t842_re * 8.0F) - dx_hand_model_B.tmp_tmp_nl * 8.0F) -
10022 dx_hand_model_B.tmp_tmp_iu * 8.0F) -
10023 dx_hand_model_B.tmp_tmp_tmp_p5 * 8.0F) -
10024 dx_hand_model_B.tmp_tmp_jz * 8.0F) -
10025 dx_hand_model_B.tmp_tmp_da * 8.0F) -
10026 dx_hand_model_B.tmp_tmp_c5 * 8.0F) -
10027 dx_hand_model_B.tmp_tmp_iy * 8.0F) -
10028 dx_hand_model_B.tmp_tmp_pl * 8.0F) - dx_hand_model_B.tmp_tmp_f0
10029 * 8.0F) - dx_hand_model_B.tmp_tmp_nh * 8.0F) -
10030 dx_hand_model_B.tmp_tmp_tmp_e * 8.0F) -
10031 dx_hand_model_B.tmp_tmp_ho4 * 8.0F) -
10032 dx_hand_model_B.tmp_tmp_tmp_j5 * 8.0F) -
10033 dx_hand_model_B.tmp_tmp_tmp_jd * 8.0F) - dx_hand_model_B.tmp_tmp_kl *
10034 8.0F) - dx_hand_model_B.tmp_tmp_bn * 8.0F) -
10035 dx_hand_model_B.tmp_tmp_hpt * 8.0F) - dx_hand_model_B.tmp_tmp_eg * 8.0F)
10036 - dx_hand_model_B.tmp_tmp_hm * 8.0F) - dx_hand_model_B.tmp_tmp_f4 * 8.0F)
10037 - dx_hand_model_B.tmp_tmp_hn * 8.0F;
10038 dx_hand_model_B.t26_m = dx_hand_model_B.DataTypeConversion5_n *
10039 dx_hand_model_B.DataTypeConversion5_n;
10040 dx_hand_model_B.t27_m = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;
10041 dx_hand_model_B.t28_h = dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf;
10042 dx_hand_model_B.t29_c = dx_hand_model_B.t7 * dx_hand_model_B.t7;
10043 dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.DataTypeConversion5_n *
10044 dx_hand_model_B.t4_o;
10045 dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.DataTypeConversion5_n *
10046 dx_hand_model_B.Sum_nf;
10047 dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;
10048 dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;
10049 dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.t754 *
10050 dx_hand_model_B.sf_MATLABFunction_h.x;
10051 dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.t835_re *
10052 dx_hand_model_B.sf_MATLABFunction_h.y;
10053 dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.t16_e *
10054 dx_hand_model_B.sf_MATLABFunction_h.x;
10055 dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.t17_f *
10056 dx_hand_model_B.sf_MATLABFunction_h.y;
10057 dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.t760_re *
10058 dx_hand_model_B.sf_MATLABFunction_h.x;
10059 dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.t762_re *
10060 dx_hand_model_B.sf_MATLABFunction_h.x;
10061 dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.t802 *
10062 dx_hand_model_B.sf_MATLABFunction_h.x;
10063 dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.t757_re *
10064 dx_hand_model_B.sf_MATLABFunction_h.y;
10065 dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.t836_re *
10066 dx_hand_model_B.sf_MATLABFunction_h.x;
10067 dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.t763_re *
10068 dx_hand_model_B.sf_MATLABFunction_h.x;
10069 dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.t762_re *
10070 dx_hand_model_B.sf_MATLABFunction_h.y;
10071 dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.t769_re *
10072 dx_hand_model_B.sf_MATLABFunction_h.y;
10073 dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.t823 *
10074 dx_hand_model_B.sf_MATLABFunction_h.y;
10075 dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.t768_re *
10076 dx_hand_model_B.sf_MATLABFunction_h.y;
10077 dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.t768_re *
10078 dx_hand_model_B.sf_MATLABFunction_h.x;
10079 dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.tmp_tmp_egf *
10080 dx_hand_model_B.sf_MATLABFunction_h.x;
10081 dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.t763_re *
10082 dx_hand_model_B.sf_MATLABFunction_h.y;
10083 dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.t831_re *
10084 dx_hand_model_B.sf_MATLABFunction_h.y;
10085 dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.t29_c *
10086 dx_hand_model_B.sf_MATLABFunction_h.x;
10087 dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.t29_c *
10088 dx_hand_model_B.sf_MATLABFunction_h.y;
10089 dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.tmp_tmp_egf *
10090 dx_hand_model_B.sf_MATLABFunction_h.y;
10091 dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.t841_re *
10092 dx_hand_model_B.sf_MATLABFunction_h.y;
10093 dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.t823 *
10094 dx_hand_model_B.sf_MATLABFunction_h.x;
10095 dx_hand_model_B.tmp_tmp_ic = dx_hand_model_B.t836_re *
10096 dx_hand_model_B.sf_MATLABFunction_h.y;
10097 dx_hand_model_B.tmp_tmp_h5 = dx_hand_model_B.t7 * dx_hand_model_B.t15_g;
10098 dx_hand_model_B.t25_h = 1.0F / (dx_hand_model_B.t25_h * dx_hand_model_B.t25_h)
10099 * (dx_hand_model_B.t18_h * dx_hand_model_B.t18_h) * 0.25F -
10100 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
10101 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
10102 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_o4
10103 * dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F +
10104 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
10105 (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n
10106 * dx_hand_model_B.t16_e * 6.0F + dx_hand_model_B.t3 * dx_hand_model_B.t26_m)
10107 + dx_hand_model_B.t14_a * dx_hand_model_B.t26_m) + dx_hand_model_B.t14_a *
10108 dx_hand_model_B.t16_e) + dx_hand_model_B.DataTypeConversion5_n *
10109 dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t1313 *
10110 dx_hand_model_B.t26_m) + dx_hand_model_B.t3 * dx_hand_model_B.t27_m) +
10111 dx_hand_model_B.t4_o * dx_hand_model_B.t16_e * 2.0F) + dx_hand_model_B.t13_b
10112 * dx_hand_model_B.t26_m) + dx_hand_model_B.t14_a * dx_hand_model_B.t27_m) +
10113 dx_hand_model_B.t3 * dx_hand_model_B.t17_f * 3.0F) + dx_hand_model_B.t1313 *
10114 dx_hand_model_B.t16_e * 3.0F) + dx_hand_model_B.t13_b *
10115 dx_hand_model_B.t16_e) + dx_hand_model_B.t14_a * dx_hand_model_B.t17_f) +
10116 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t29_c * 4.0F) +
10117 dx_hand_model_B.t3 * dx_hand_model_B.t28_h) + dx_hand_model_B.Sum_nf *
10118 dx_hand_model_B.t16_e * 2.0F) + dx_hand_model_B.t4_o * dx_hand_model_B.t17_f
10119 * 6.0F) + dx_hand_model_B.t1313 * dx_hand_model_B.t27_m) +
10120 dx_hand_model_B.t14_a * dx_hand_model_B.t28_h) + dx_hand_model_B.t13_b *
10121 dx_hand_model_B.t27_m) + dx_hand_model_B.t3 * dx_hand_model_B.t29_c) +
10122 dx_hand_model_B.t7 * dx_hand_model_B.t16_e * 2.0F) + dx_hand_model_B.t790 *
10123 7458.0F) + dx_hand_model_B.t14_a * dx_hand_model_B.t29_c) +
10124 dx_hand_model_B.t13_b * dx_hand_model_B.t17_f) + dx_hand_model_B.t4_o *
10125 dx_hand_model_B.t29_c * 4.0F) + dx_hand_model_B.t1313 *
10126 dx_hand_model_B.t28_h) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t17_f *
10127 2.0F) + dx_hand_model_B.t13_b * dx_hand_model_B.t28_h) +
10128 dx_hand_model_B.t1313 * dx_hand_model_B.t29_c) + dx_hand_model_B.t7 *
10129 dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t773_re * 7458.0F) +
10130 dx_hand_model_B.t13_b * dx_hand_model_B.t29_c) + dx_hand_model_B.t1251 *
10131 14916.0F) + dx_hand_model_B.t1328 * 14916.0F) + dx_hand_model_B.t739 *
10132 14916.0F) + dx_hand_model_B.t752 * 14916.0F) + dx_hand_model_B.t3 *
10133 1.3905441E+7F) + dx_hand_model_B.t14_a * 1.3905441E+7F) +
10134 dx_hand_model_B.t1313 * 1.3905441E+7F) + dx_hand_model_B.t13_b *
10135 1.3905441E+7F) + dx_hand_model_B.t839_re * 14916.0F) +
10136 dx_hand_model_B.t826_re * 14916.0F) + dx_hand_model_B.tmp_tmp_ai *
10137 dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F) + dx_hand_model_B.t841_re *
10138 14916.0F) + dx_hand_model_B.t827_re * 27716.0F) + dx_hand_model_B.t11_e *
10139 12800.0F) + dx_hand_model_B.t828_re * 27716.0F) + dx_hand_model_B.t20_c *
10140 14916.0F) + dx_hand_model_B.t829_re * 14916.0F) + dx_hand_model_B.tmp_tmp_fq
10141 * 14916.0F) + dx_hand_model_B.t842_re * 14916.0F) +
10142 dx_hand_model_B.tmp_tmp_nl * 27716.0F) + dx_hand_model_B.tmp_tmp_iu *
10143 12800.0F) + dx_hand_model_B.tmp_tmp_tmp_p5 * 27716.0F) +
10144 dx_hand_model_B.tmp_tmp_il * 14916.0F) + dx_hand_model_B.t29_c *
10145 dx_hand_model_B.sf_MATLABFunction2.x *
10146 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) + dx_hand_model_B.tmp_tmp_fa *
10147 14916.0F) + dx_hand_model_B.tmp_tmp_fr * 14916.0F) +
10148 dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F)
10149 + dx_hand_model_B.t843_re * 14916.0F) + dx_hand_model_B.tmp_tmp_c5 *
10150 14916.0F) + dx_hand_model_B.t3 * dx_hand_model_B.sf_MATLABFunction2.z *
10151 dx_hand_model_B.sf_MATLABFunction1_g.z * 14916.0F) + dx_hand_model_B.t29_c *
10152 dx_hand_model_B.sf_MATLABFunction2.y *
10153 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) + dx_hand_model_B.t1313 *
10154 dx_hand_model_B.sf_MATLABFunction2.z *
10155 dx_hand_model_B.sf_MATLABFunction1_g.z * 14916.0F) +
10156 dx_hand_model_B.tmp_tmp_mxd * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)
10157 + dx_hand_model_B.tmp_tmp_om * dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F)
10158 + dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F)
10159 + dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.sf_MATLABFunction1_g.y *
10160 4.0F) + dx_hand_model_B.t754 * dx_hand_model_B.t14_a * 6.0F) +
10161 dx_hand_model_B.t754 * dx_hand_model_B.t4_o * 2.0F) +
10162 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t14_a * 2.0F) +
10163 dx_hand_model_B.t754 * dx_hand_model_B.t1313 * 8.0F) + dx_hand_model_B.t754 *
10164 dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t757_re *
10165 dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.t760_re *
10166 dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.t762_re *
10167 dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.t754 *
10168 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_m1 *
10169 dx_hand_model_B.t1313 * 2.0F) + dx_hand_model_B.tmp_tmp_cx *
10170 dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.tmp_tmp_m1 *
10171 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t754 * dx_hand_model_B.t7 *
10172 10.0F) + dx_hand_model_B.t760_re * dx_hand_model_B.t1313 * 8.0F) +
10173 dx_hand_model_B.t757_re * dx_hand_model_B.t13_b * 2.0F) +
10174 dx_hand_model_B.t802 * dx_hand_model_B.t14_a * 2.0F) +
10175 dx_hand_model_B.t760_re * dx_hand_model_B.t13_b * 2.0F) +
10176 dx_hand_model_B.t835_re * dx_hand_model_B.t14_a * 6.0F) +
10177 dx_hand_model_B.t762_re * dx_hand_model_B.t13_b * 2.0F) +
10178 dx_hand_model_B.t757_re * dx_hand_model_B.Sum_nf * 2.0F) +
10179 dx_hand_model_B.t760_re * dx_hand_model_B.Sum_nf * 2.0F) +
10180 dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t13_b * 2.0F) +
10181 dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t14_a * 2.0F) +
10182 dx_hand_model_B.t757_re * dx_hand_model_B.t7 * 6.0F) +
10183 dx_hand_model_B.t760_re * dx_hand_model_B.t7 * 6.0F) +
10184 dx_hand_model_B.t762_re * dx_hand_model_B.Sum_nf * 4.0F) +
10185 dx_hand_model_B.t763_re * dx_hand_model_B.t13_b * 2.0F) +
10186 dx_hand_model_B.t802 * dx_hand_model_B.t13_b * 2.0F) +
10187 dx_hand_model_B.t768_re * dx_hand_model_B.t14_a * 2.0F) +
10188 dx_hand_model_B.t769_re * dx_hand_model_B.t14_a * 2.0F) +
10189 dx_hand_model_B.t835_re * dx_hand_model_B.t13_b * 6.0F) +
10190 dx_hand_model_B.t762_re * dx_hand_model_B.t7 * 4.0F) +
10191 dx_hand_model_B.t836_re * dx_hand_model_B.t13_b * 2.0F) +
10192 dx_hand_model_B.t823 * dx_hand_model_B.t14_a * 2.0F) +
10193 dx_hand_model_B.t835_re * dx_hand_model_B.Sum_nf * 2.0F) +
10194 dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t13_b * 2.0F) +
10195 dx_hand_model_B.t802 * dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t835_re *
10196 dx_hand_model_B.t7 * 10.0F) + dx_hand_model_B.t763_re *
10197 dx_hand_model_B.t15_g * 4.0F) + dx_hand_model_B.t769_re *
10198 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t836_re *
10199 dx_hand_model_B.t15_g * 4.0F) + dx_hand_model_B.t769_re * dx_hand_model_B.t7
10200 * 2.0F) + dx_hand_model_B.t768_re * dx_hand_model_B.t15_g * 4.0F) +
10201 dx_hand_model_B.t823 * dx_hand_model_B.t15_g * 4.0F) +
10202 dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)
10203 + dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)
10204 + dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)
10205 + dx_hand_model_B.t790 * dx_hand_model_B.sf_MATLABFunction_h.x *
10206 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) + dx_hand_model_B.tmp_tmp_gi *
10207 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) + dx_hand_model_B.tmp_tmp_jcs
10208 * dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) +
10209 dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F)
10210 + dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.sf_MATLABFunction1_g.y *
10211 8.0F) + dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.sf_MATLABFunction1_g.x *
10212 4.0F) + dx_hand_model_B.tmp_tmp_mid * dx_hand_model_B.sf_MATLABFunction1_g.y
10213 * 4.0F) + dx_hand_model_B.tmp_tmp_c2b *
10214 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t773_re *
10215 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10216 * 4.0F) + dx_hand_model_B.tmp_tmp_a0g *
10217 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F)) +
10218 dx_hand_model_B.tmp_tmp_tmp_j5 * 12800.0F) + dx_hand_model_B.tmp_tmp_tmp_jd *
10219 12800.0F) + dx_hand_model_B.tmp_tmp_kl * 12800.0F) + dx_hand_model_B.t749 *
10220 14916.0F) + dx_hand_model_B.t32_p * 14916.0F) + dx_hand_model_B.tmp_tmp_frj *
10221 dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t1251 *
10222 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10223 * 8.0F) + dx_hand_model_B.t841_re * dx_hand_model_B.sf_MATLABFunction2.y *
10224 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t1251 *
10225 dx_hand_model_B.sf_MATLABFunction2.y *
10226 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t20_c *
10227 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10228 * 8.0F) + dx_hand_model_B.t828_re * dx_hand_model_B.sf_MATLABFunction_h.y *
10229 dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t1261 *
10230 dx_hand_model_B.sf_MATLABFunction2.y *
10231 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t1328 *
10232 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10233 * 8.0F) + dx_hand_model_B.t1248 * dx_hand_model_B.sf_MATLABFunction1_g.z *
10234 12.0F) + dx_hand_model_B.t1250 * dx_hand_model_B.sf_MATLABFunction1_g.z *
10235 12.0F) + dx_hand_model_B.t1252 * dx_hand_model_B.sf_MATLABFunction1_g.z *
10236 4.0F) + dx_hand_model_B.tmp_tmp_cy * dx_hand_model_B.sf_MATLABFunction1_g.z *
10237 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
10238 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.t1253 *
10239 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.t1254 *
10240 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.t1255 *
10241 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.tmp_tmp_kq *
10242 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +
10243 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *
10244 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.t839_re *
10245 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10246 * 8.0F) + dx_hand_model_B.t826_re * dx_hand_model_B.sf_MATLABFunction_h.y *
10247 dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t827_re *
10248 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10249 * 8.0F) + dx_hand_model_B.t840_re * dx_hand_model_B.sf_MATLABFunction2.y *
10250 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t829_re *
10251 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10252 * 8.0F) + dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.sf_MATLABFunction2.y *
10253 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t842_re *
10254 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10255 * 8.0F) + dx_hand_model_B.t829_re * dx_hand_model_B.sf_MATLABFunction2.y *
10256 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.tmp_tmp_ftf
10257 * dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t830_re *
10258 dx_hand_model_B.sf_MATLABFunction2.y *
10259 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.tmp_tmp_ftf
10260 * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t1312 *
10261 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.xD1_tmp_o *
10262 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +
10263 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.sf_MATLABFunction1_g.z
10264 * 12.0F) + dx_hand_model_B.tmp_tmp_ge *
10265 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +
10266 dx_hand_model_B.tmp_tmp_tmp_cm * dx_hand_model_B.sf_MATLABFunction1_g.z *
10267 4.0F) + dx_hand_model_B.t8_h * dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F)
10268 + dx_hand_model_B.t9_tmp_d * dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F)
10269 + dx_hand_model_B.t26_tmp_g * dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F)
10270 + dx_hand_model_B.tmp_tmp_tmp_oc * dx_hand_model_B.sf_MATLABFunction1_g.z *
10271 4.0F) + dx_hand_model_B.tmp_tmp_hi * dx_hand_model_B.sf_MATLABFunction1_g.z *
10272 4.0F) + dx_hand_model_B.tmp_tmp_tmp_ol *
10273 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.t33_tmp *
10274 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.t34_tmp *
10275 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +
10276 dx_hand_model_B.tmp_tmp_tmp_h * dx_hand_model_B.sf_MATLABFunction1_g.z *
10277 4.0F) + dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.sf_MATLABFunction1_g.z *
10278 8.0F) + dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.sf_MATLABFunction1_g.z *
10279 8.0F) - dx_hand_model_B.t754 * 7458.0F) - dx_hand_model_B.tmp_tmp_mxd *
10280 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t755 *
10281 7458.0F) - dx_hand_model_B.t761_re * 7458.0F) - dx_hand_model_B.t757_re *
10282 13858.0F) - dx_hand_model_B.t760_re * 13858.0F) - dx_hand_model_B.t758_re *
10283 13858.0F) - dx_hand_model_B.t759_re * 13858.0F) - dx_hand_model_B.t762_re *
10284 14916.0F) - dx_hand_model_B.t804 * 13858.0F) - dx_hand_model_B.t803 *
10285 13858.0F) - dx_hand_model_B.t802 * 7458.0F) - dx_hand_model_B.t835_re *
10286 7458.0F) - dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.sf_MATLABFunction2.y
10287 * 4.0F) - dx_hand_model_B.t765_re * 7458.0F) - dx_hand_model_B.t822 *
10288 7458.0F) - dx_hand_model_B.t836_re * 7458.0F) - dx_hand_model_B.t764_re *
10289 7458.0F) - dx_hand_model_B.t769_re * 7458.0F) - dx_hand_model_B.t771_re *
10290 7458.0F) - dx_hand_model_B.t823 * 7458.0F) - dx_hand_model_B.t837_re *
10291 2.7810882E+7F) - dx_hand_model_B.t824 * 2.7810882E+7F) -
10292 dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) -
10293 dx_hand_model_B.t16_e * dx_hand_model_B.sf_MATLABFunction2.x *
10294 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.tmp_tmp_ji5
10295 * dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t17_f *
10296 dx_hand_model_B.sf_MATLABFunction2.y *
10297 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.t16_e *
10298 7458.0F) - dx_hand_model_B.t17_f * 7458.0F) - dx_hand_model_B.t825 *
10299 29832.0F) - dx_hand_model_B.t26_m * dx_hand_model_B.sf_MATLABFunction2.x *
10300 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.t17_f *
10301 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10302 * 4.0F) - dx_hand_model_B.t27_m * dx_hand_model_B.sf_MATLABFunction2.x *
10303 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.t17_f *
10304 dx_hand_model_B.sf_MATLABFunction2.x *
10305 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.tmp_tmp_on *
10306 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t16_e *
10307 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10308 * 4.0F) - dx_hand_model_B.t830_re * 14916.0F) - dx_hand_model_B.tmp_tmp_on *
10309 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t28_h *
10310 dx_hand_model_B.sf_MATLABFunction2.x *
10311 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.t26_m *
10312 dx_hand_model_B.sf_MATLABFunction2.y *
10313 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.t16_e *
10314 dx_hand_model_B.sf_MATLABFunction2.y *
10315 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.tmp_tmp_ji *
10316 29832.0F) - dx_hand_model_B.t27_m * dx_hand_model_B.sf_MATLABFunction2.y *
10317 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.tmp_tmp_iz5
10318 * dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_da *
10319 14916.0F) - dx_hand_model_B.tmp_tmp_iz5 *
10320 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t28_h *
10321 dx_hand_model_B.sf_MATLABFunction2.y *
10322 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.t16_e *
10323 dx_hand_model_B.sf_MATLABFunction2.z *
10324 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t17_f *
10325 dx_hand_model_B.sf_MATLABFunction2.z *
10326 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t761_re *
10327 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10328 * 4.0F) - dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction2.x *
10329 dx_hand_model_B.sf_MATLABFunction1_g.x * 12.0F) - dx_hand_model_B.t755 *
10330 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10331 * 4.0F) - dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.sf_MATLABFunction2.x
10332 * 4.0F) - dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.sf_MATLABFunction2.x *
10333 8.0F) - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction_h.x *
10334 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t804 *
10335 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10336 * 4.0F) - dx_hand_model_B.t758_re * dx_hand_model_B.sf_MATLABFunction_h.x *
10337 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t760_re *
10338 dx_hand_model_B.sf_MATLABFunction2.x *
10339 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t762_re *
10340 dx_hand_model_B.sf_MATLABFunction2.x *
10341 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.tmp_tmp_jy *
10342 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_jb *
10343 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_gi *
10344 dx_hand_model_B.sf_MATLABFunction2.x * 8.0F) - dx_hand_model_B.tmp_tmp_om *
10345 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_hm4 *
10346 dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) - dx_hand_model_B.t760_re *
10347 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10348 * 4.0F) - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction2.y *
10349 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t802 *
10350 dx_hand_model_B.sf_MATLABFunction2.x *
10351 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t803 *
10352 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10353 * 4.0F) - dx_hand_model_B.t759_re * dx_hand_model_B.sf_MATLABFunction_h.y *
10354 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t762_re *
10355 dx_hand_model_B.sf_MATLABFunction2.y *
10356 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t764_re *
10357 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10358 * 4.0F) - dx_hand_model_B.t835_re * dx_hand_model_B.sf_MATLABFunction2.y *
10359 dx_hand_model_B.sf_MATLABFunction1_g.y * 12.0F) - dx_hand_model_B.t822 *
10360 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10361 * 4.0F) - dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.sf_MATLABFunction2.y
10362 * 4.0F) - dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.sf_MATLABFunction2.y
10363 * 8.0F) - dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.sf_MATLABFunction2.y
10364 * 4.0F) - dx_hand_model_B.tmp_tmp_be *
10365 dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) - dx_hand_model_B.t769_re *
10366 dx_hand_model_B.sf_MATLABFunction2.y *
10367 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t836_re *
10368 dx_hand_model_B.sf_MATLABFunction2.z *
10369 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.tmp_tmp_os *
10370 dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) - dx_hand_model_B.t823 *
10371 dx_hand_model_B.sf_MATLABFunction2.z *
10372 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t763_re *
10373 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t836_re *
10374 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.tmp_tmp_egf *
10375 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t768_re *
10376 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t823 * dx_hand_model_B.t13_b
10377 * 2.0F) - dx_hand_model_B.tmp_tmp_egf * dx_hand_model_B.t13_b * 2.0F) -
10378 dx_hand_model_B.t759_re * dx_hand_model_B.sf_MATLABFunction_h.x *
10379 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_m1 *
10380 dx_hand_model_B.sf_MATLABFunction2.x *
10381 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t803 *
10382 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10383 * 4.0F) - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction2.x *
10384 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t835_re *
10385 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10386 * 4.0F) - dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction_h.y *
10387 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t765_re *
10388 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10389 * 4.0F) - dx_hand_model_B.t822 * dx_hand_model_B.sf_MATLABFunction_h.x *
10390 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_cx *
10391 dx_hand_model_B.sf_MATLABFunction2.x *
10392 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t755 *
10393 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10394 * 4.0F) - dx_hand_model_B.t764_re * dx_hand_model_B.sf_MATLABFunction_h.x *
10395 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t835_re *
10396 dx_hand_model_B.sf_MATLABFunction2.x *
10397 dx_hand_model_B.sf_MATLABFunction1_g.x * 12.0F) - dx_hand_model_B.t763_re *
10398 dx_hand_model_B.sf_MATLABFunction2.x *
10399 dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F) - dx_hand_model_B.t754 *
10400 dx_hand_model_B.sf_MATLABFunction2.y *
10401 dx_hand_model_B.sf_MATLABFunction1_g.y * 12.0F) - dx_hand_model_B.t761_re *
10402 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10403 * 4.0F) - dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.sf_MATLABFunction2.x
10404 * 4.0F) - dx_hand_model_B.t769_re * dx_hand_model_B.sf_MATLABFunction_h.x *
10405 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t771_re *
10406 dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x
10407 * 4.0F) - dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.sf_MATLABFunction2.x
10408 * dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t758_re *
10409 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10410 * 4.0F) - dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.sf_MATLABFunction2.y *
10411 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) -
10412 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.sf_MATLABFunction2.x *
10413 8.0F) - dx_hand_model_B.t773_re * dx_hand_model_B.sf_MATLABFunction_h.x *
10414 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) -
10415 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.sf_MATLABFunction1_g.x *
10416 4.0F) - dx_hand_model_B.t768_re * dx_hand_model_B.sf_MATLABFunction2.x *
10417 dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F) - dx_hand_model_B.t769_re *
10418 dx_hand_model_B.sf_MATLABFunction2.x *
10419 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t804 *
10420 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10421 * 4.0F) - dx_hand_model_B.t760_re * dx_hand_model_B.sf_MATLABFunction2.y *
10422 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.tmp_tmp_ib *
10423 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_mid *
10424 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t802 *
10425 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10426 * 4.0F) - dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.sf_MATLABFunction2.y *
10427 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t765_re *
10428 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10429 * 4.0F) - dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.sf_MATLABFunction2.y *
10430 8.0F) - dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.sf_MATLABFunction_h.x *
10431 dx_hand_model_B.sf_MATLABFunction2.x * 8.0F) - dx_hand_model_B.t763_re *
10432 dx_hand_model_B.sf_MATLABFunction2.y *
10433 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) - dx_hand_model_B.t819 *
10434 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) - dx_hand_model_B.tmp_tmp_ic
10435 * dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t802 *
10436 dx_hand_model_B.sf_MATLABFunction2.y *
10437 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t790 *
10438 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10439 * 4.0F) - dx_hand_model_B.t771_re * dx_hand_model_B.sf_MATLABFunction_h.y *
10440 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_pie *
10441 dx_hand_model_B.sf_MATLABFunction2.y *
10442 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t818 *
10443 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t817 *
10444 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t768_re *
10445 dx_hand_model_B.sf_MATLABFunction2.y *
10446 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) - dx_hand_model_B.t762_re *
10447 dx_hand_model_B.sf_MATLABFunction2.z *
10448 dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) - dx_hand_model_B.tmp_tmp_o4 *
10449 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_h5 *
10450 dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y
10451 * 8.0F) - dx_hand_model_B.t802 * dx_hand_model_B.sf_MATLABFunction2.z *
10452 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t814 *
10453 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) - dx_hand_model_B.t769_re *
10454 dx_hand_model_B.sf_MATLABFunction2.z *
10455 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.tmp_tmp_ln *
10456 12800.0F) - dx_hand_model_B.tmp_tmp_lu * 12800.0F) -
10457 dx_hand_model_B.tmp_tmp_gf * 42632.0F) - dx_hand_model_B.tmp_tmp_jo *
10458 42632.0F) - dx_hand_model_B.tmp_tmp_f1s * 12800.0F) -
10459 dx_hand_model_B.tmp_tmp_js * 12800.0F) - dx_hand_model_B.t19_e * 14916.0F) -
10460 dx_hand_model_B.tmp_tmp_eg * 14916.0F) - dx_hand_model_B.tmp_tmp_tmp_jk *
10461 14916.0F) - dx_hand_model_B.tmp_tmp_hn * 14916.0F) -
10462 dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction1_g.z
10463 * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_j *
10464 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10465 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
10466 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10467 dx_hand_model_B.tmp_tmp_dn *
10468 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10469 dx_hand_model_B.t825 *
10470 dx_hand_model_B.sf_MATLABFunction_h.y *
10471 dx_hand_model_B.sf_MATLABFunction2.y * 16.0F) -
10472 dx_hand_model_B.tmp_tmp_frj *
10473 dx_hand_model_B.sf_MATLABFunction1_g.y * 16.0F) -
10474 dx_hand_model_B.t830_re *
10475 dx_hand_model_B.sf_MATLABFunction_h.y *
10476 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) -
10477 dx_hand_model_B.xD1_tmp_tmp_k *
10478 dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) -
10479 dx_hand_model_B.t831_re * dx_hand_model_B.sf_MATLABFunction2.y *
10480 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) -
10481 dx_hand_model_B.tmp_tmp_bf *
10482 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10483 dx_hand_model_B.tmp_tmp_gbr *
10484 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10485 dx_hand_model_B.tmp_tmp_tmp_i *
10486 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10487 dx_hand_model_B.t10_tmp * dx_hand_model_B.sf_MATLABFunction1_g.z *
10488 4.0F) - dx_hand_model_B.tmp_tmp_axm *
10489 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10490 dx_hand_model_B.t1256_tmp * dx_hand_model_B.sf_MATLABFunction1_g.z *
10491 12.0F) - dx_hand_model_B.t24_a *
10492 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -
10493 dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.sf_MATLABFunction2.z *
10494 dx_hand_model_B.sf_MATLABFunction1_g.z * 16.0F) -
10495 dx_hand_model_B.tmp_tmp_bi * dx_hand_model_B.sf_MATLABFunction1_g.z *
10496 8.0F) - dx_hand_model_B.tmp_tmp_daj *
10497 dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) + dx_hand_model_B.t3 *
10498 dx_hand_model_B.t16_e) + dx_hand_model_B.t1313 * dx_hand_model_B.t17_f) *
10499 (1.0F / dx_hand_model_B.t25_h);
10500 if (dx_hand_model_B.t25_h < 0.0F) {
10501 dx_hand_model_B.rtb_xH_sol_idx_0_re =
10502 dx_hand_model_DW.Memory_PreviousInput_e[0];
10503 dx_hand_model_B.Sum_nf = dx_hand_model_DW.Memory1_PreviousInput[0];
10504 dx_hand_model_B.rtb_zH_sol_idx_0_re =
10505 dx_hand_model_DW.Memory2_PreviousInput[0];
10506 dx_hand_model_B.rtb_xH_sol_idx_1_re =
10507 dx_hand_model_DW.Memory_PreviousInput_e[1];
10508 dx_hand_model_B.t1313 = dx_hand_model_DW.Memory1_PreviousInput[1];
10509 dx_hand_model_B.rtb_zH_sol_idx_1_re =
10510 dx_hand_model_DW.Memory2_PreviousInput[1];
10511 } else {
10512 dx_hand_model_B.t476.re = dx_hand_model_B.t25_h;
10513 dx_hand_model_B.t476.im = 0.0F;
10514 dx_hand_model_sqrt_l(&dx_hand_model_B.t476);
10515 dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.sf_MATLABFunction_h.y *
10516 dx_hand_model_B.sf_MATLABFunction2.z;
10517 dx_hand_model_B.t25_h =
10518 (((((((((((((((((((((dx_hand_model_B.sf_MATLABFunction1_g.y * 3729.0F +
10519 dx_hand_model_B.tmp_tmp_ce) + dx_hand_model_B.tmp_tmp_i3r) +
10520 dx_hand_model_B.t3 *
10521 dx_hand_model_B.sf_MATLABFunction1_g.y) +
10522 dx_hand_model_B.tmp_tmp_oo) + dx_hand_model_B.t766_re) +
10523 dx_hand_model_B.t794) + dx_hand_model_B.t7 *
10524 dx_hand_model_B.sf_MATLABFunction1_g.y) +
10525 dx_hand_model_B.tmp_tmp_dv * 2.0F) + dx_hand_model_B.t838_re
10526 * dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) +
10527 dx_hand_model_B.tmp_tmp_tmp_tmp_gy *
10528 dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) -
10529 dx_hand_model_B.sf_MATLABFunction2.y * 3729.0F) -
10530 dx_hand_model_B.tmp_tmp_nn * 2.0F) - dx_hand_model_B.t10_j *
10531 2.0F) - dx_hand_model_B.t750 * 2.0F) + dx_hand_model_B.t767_re) -
10532 dx_hand_model_B.DataTypeConversion5_n *
10533 dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.t4_o *
10534 dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.t1313 *
10535 dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.Sum_nf *
10536 dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.tmp_tmp_oyy *
10537 2.0F) - dx_hand_model_B.sf_MATLABFunction2.y *
10538 dx_hand_model_B.sf_MATLABFunction2.z *
10539 dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) * dx_hand_model_B.t12_o *
10540 0.5F;
10541 dx_hand_model_B.t27_m = 1.0F /
10542 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t757_re
10543 + dx_hand_model_B.t760_re) + dx_hand_model_B.t758_re) +
10544 dx_hand_model_B.t759_re) + dx_hand_model_B.t804) + dx_hand_model_B.t803) +
10545 dx_hand_model_B.t763_re) + dx_hand_model_B.t802) + dx_hand_model_B.t797) +
10546 dx_hand_model_B.t765_re) + dx_hand_model_B.t796) + dx_hand_model_B.t790) +
10547 dx_hand_model_B.t768_re) + dx_hand_model_B.t769_re) +
10548 dx_hand_model_B.t770_re) + dx_hand_model_B.t771_re) +
10549 dx_hand_model_B.t772_re) + dx_hand_model_B.t773_re) +
10550 dx_hand_model_B.tmp_tmp_ln * 2.0F) + dx_hand_model_B.tmp_tmp_lu * 2.0F) +
10551 dx_hand_model_B.tmp_tmp_gf * 2.0F) + dx_hand_model_B.tmp_tmp_jo * 2.0F) +
10552 dx_hand_model_B.tmp_tmp_f1s * 2.0F) + dx_hand_model_B.tmp_tmp_js * 2.0F) +
10553 dx_hand_model_B.tmp_tmp_tmp_m * 2.0F) + dx_hand_model_B.tmp_tmp_tmp_a *
10554 2.0F) + dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.tmp_tmp_ho * 2.0F)
10555 + dx_hand_model_B.t749 * 2.0F) + dx_hand_model_B.tmp_tmp_ku * 2.0F) +
10556 dx_hand_model_B.tmp_tmp_ooe * 2.0F) + dx_hand_model_B.tmp_tmp_nu * 2.0F) +
10557 dx_hand_model_B.tmp_tmp_tmp_jk * 2.0F) + dx_hand_model_B.tmp_tmp_ki * 2.0F)
10558 + dx_hand_model_B.t32_p * 2.0F) + dx_hand_model_B.tmp_tmp_hw * 2.0F) -
10559 dx_hand_model_B.t827_re * 2.0F) - dx_hand_model_B.t11_e * 2.0F) -
10560 dx_hand_model_B.t828_re * 2.0F) - dx_hand_model_B.tmp_tmp_fn * 2.0F) -
10561 dx_hand_model_B.t830_re * 2.0F) - dx_hand_model_B.t842_re * 2.0F) -
10562 dx_hand_model_B.tmp_tmp_nl * 2.0F) - dx_hand_model_B.tmp_tmp_iu * 2.0F) -
10563 dx_hand_model_B.tmp_tmp_tmp_p5 * 2.0F) -
10564 dx_hand_model_B.tmp_tmp_jz * 2.0F) -
10565 dx_hand_model_B.tmp_tmp_da * 2.0F) -
10566 dx_hand_model_B.tmp_tmp_c5 * 2.0F) -
10567 dx_hand_model_B.tmp_tmp_iy * 2.0F) -
10568 dx_hand_model_B.tmp_tmp_pl * 2.0F) -
10569 dx_hand_model_B.tmp_tmp_f0 * 2.0F) -
10570 dx_hand_model_B.tmp_tmp_nh * 2.0F) -
10571 dx_hand_model_B.tmp_tmp_tmp_e * 2.0F) -
10572 dx_hand_model_B.tmp_tmp_ho4 * 2.0F) -
10573 dx_hand_model_B.tmp_tmp_tmp_j5 * 2.0F) -
10574 dx_hand_model_B.tmp_tmp_tmp_jd * 2.0F) -
10575 dx_hand_model_B.tmp_tmp_kl * 2.0F) - dx_hand_model_B.tmp_tmp_bn *
10576 2.0F) - dx_hand_model_B.tmp_tmp_hpt * 2.0F) -
10577 dx_hand_model_B.tmp_tmp_eg * 2.0F) - dx_hand_model_B.tmp_tmp_hm * 2.0F)
10578 - dx_hand_model_B.tmp_tmp_f4 * 2.0F) - dx_hand_model_B.tmp_tmp_hn * 2.0F);
10579 dx_hand_model_B.t28_h = dx_hand_model_B.tmp_tmp_be * 2.0F;
10580 dx_hand_model_B.t32_p = dx_hand_model_B.tmp_tmp_os * 2.0F;
10581 dx_hand_model_B.t10_j = dx_hand_model_B.t987_re * 3729.0F;
10582 dx_hand_model_B.t11_e = dx_hand_model_B.t832_re * 3729.0F;
10583 dx_hand_model_B.t19_e = dx_hand_model_B.t833_re * 3729.0F;
10584 dx_hand_model_B.t20_c = dx_hand_model_B.t821 * 3729.0F;
10585 dx_hand_model_B.t16_e = dx_hand_model_B.t834_re * 3.0F;
10586 dx_hand_model_B.t1251 = dx_hand_model_B.t820 * 3.0F;
10587 dx_hand_model_B.t17_f = dx_hand_model_B.t819 * 2.0F;
10588 dx_hand_model_B.t1261 = dx_hand_model_B.t818 * 2.0F;
10589 dx_hand_model_B.t1328 = dx_hand_model_B.t817 * 2.0F;
10590 dx_hand_model_B.t739 = dx_hand_model_B.t815 * 2.0F;
10591 dx_hand_model_B.t749 = dx_hand_model_B.t814 * 2.0F;
10592 dx_hand_model_B.t750 = dx_hand_model_B.t813 * 2.0F;
10593 dx_hand_model_B.t752 = dx_hand_model_B.t812 * 2.0F;
10594 dx_hand_model_B.t754 = dx_hand_model_B.t810 * 2.0F;
10595 dx_hand_model_B.t755 = dx_hand_model_B.t808 * 2.0F;
10596 dx_hand_model_B.t756.re = dx_hand_model_B.t757_re * dx_hand_model_B.t476.re *
10597 2.0F;
10598 dx_hand_model_B.t757_re = dx_hand_model_B.t760_re * dx_hand_model_B.t476.re *
10599 2.0F;
10600 dx_hand_model_B.t758_re = dx_hand_model_B.t758_re * dx_hand_model_B.t476.re *
10601 2.0F;
10602 dx_hand_model_B.t759_re = dx_hand_model_B.t759_re * dx_hand_model_B.t476.re *
10603 2.0F;
10604 dx_hand_model_B.t760_re = dx_hand_model_B.t804 * dx_hand_model_B.t476.re *
10605 2.0F;
10606 dx_hand_model_B.t761_re = dx_hand_model_B.t803 * dx_hand_model_B.t476.re *
10607 2.0F;
10608 dx_hand_model_B.t762_re = dx_hand_model_B.t763_re * dx_hand_model_B.t476.re *
10609 2.0F;
10610 dx_hand_model_B.t763_re = dx_hand_model_B.t802 * dx_hand_model_B.t476.re *
10611 2.0F;
10612 dx_hand_model_B.t764_re = dx_hand_model_B.t797 * dx_hand_model_B.t476.re *
10613 2.0F;
10614 dx_hand_model_B.t765_re = dx_hand_model_B.t765_re * dx_hand_model_B.t476.re *
10615 2.0F;
10616 dx_hand_model_B.t766_re = dx_hand_model_B.t796 * dx_hand_model_B.t476.re *
10617 2.0F;
10618 dx_hand_model_B.t767_re = dx_hand_model_B.t790 * dx_hand_model_B.t476.re *
10619 2.0F;
10620 dx_hand_model_B.t768_re = dx_hand_model_B.t768_re * dx_hand_model_B.t476.re *
10621 2.0F;
10622 dx_hand_model_B.t769_re = dx_hand_model_B.t769_re * dx_hand_model_B.t476.re *
10623 2.0F;
10624 dx_hand_model_B.t770_re = dx_hand_model_B.t770_re * dx_hand_model_B.t476.re *
10625 2.0F;
10626 dx_hand_model_B.t771_re = dx_hand_model_B.t771_re * dx_hand_model_B.t476.re *
10627 2.0F;
10628 dx_hand_model_B.t772_re = dx_hand_model_B.t772_re * dx_hand_model_B.t476.re *
10629 2.0F;
10630 dx_hand_model_B.t773_re = dx_hand_model_B.t773_re * dx_hand_model_B.t476.re *
10631 2.0F;
10632 dx_hand_model_B.t774 *= 3729.0F;
10633 dx_hand_model_B.t775 *= 7458.0F;
10634 dx_hand_model_B.t776 *= 3729.0F;
10635 dx_hand_model_B.t777 *= 3729.0F;
10636 dx_hand_model_B.t778 *= 7458.0F;
10637 dx_hand_model_B.t779 *= 3729.0F;
10638 dx_hand_model_B.t780 *= 4.0F;
10639 dx_hand_model_B.t781 *= 2.0F;
10640 dx_hand_model_B.t782 *= 3.0F;
10641 dx_hand_model_B.t785 *= 3.0F;
10642 dx_hand_model_B.t790 = dx_hand_model_B.tmp_tmp_gs * 2.0F;
10643 dx_hand_model_B.t794 = dx_hand_model_B.tmp_tmp_ik * 5.0F;
10644 dx_hand_model_B.t796 = dx_hand_model_B.tmp_tmp_dd * 3.0F;
10645 dx_hand_model_B.t797 = dx_hand_model_B.tmp_tmp_er * 3.0F;
10646 dx_hand_model_B.t802 = dx_hand_model_B.tmp_tmp_ch * 4.0F;
10647 dx_hand_model_B.t803 = dx_hand_model_B.tmp_tmp_nm * 2.0F;
10648 dx_hand_model_B.t804 = dx_hand_model_B.tmp_tmp_h2 * 3.0F;
10649 dx_hand_model_B.t29_c = dx_hand_model_B.tmp_tmp_i3 * 2.0F;
10650 dx_hand_model_B.t808 = dx_hand_model_B.tmp_tmp_jr * 5.0F;
10651 dx_hand_model_B.t810 = dx_hand_model_B.tmp_tmp_db * 3.0F;
10652 dx_hand_model_B.t812 = dx_hand_model_B.tmp_tmp_f1 * 2.0F;
10653 dx_hand_model_B.t813 = dx_hand_model_B.tmp_tmp_lg * 4.0F;
10654 dx_hand_model_B.t814 = dx_hand_model_B.tmp_tmp_if * 2.0F;
10655 dx_hand_model_B.t815 = dx_hand_model_B.tmp_tmp_c3 * 4.0F;
10656 dx_hand_model_B.t18_h = dx_hand_model_B.tmp_tmp_g4 * 2.0F;
10657 dx_hand_model_B.t817 = dx_hand_model_B.tmp_tmp_bt * 2.0F;
10658 dx_hand_model_B.t818 = dx_hand_model_B.tmp_tmp_bi * 2.0F;
10659 dx_hand_model_B.t819 = dx_hand_model_B.tmp_tmp_daj * 2.0F;
10660 dx_hand_model_B.t820 = dx_hand_model_B.tmp_tmp_nhy * 4.0F;
10661 dx_hand_model_B.t821 = dx_hand_model_B.tmp_tmp_hs * 4.0F;
10662 dx_hand_model_B.t822 = dx_hand_model_B.tmp_tmp_dat * 2.0F;
10663 dx_hand_model_B.t823 = dx_hand_model_B.tmp_tmp_el * 2.0F;
10664 dx_hand_model_B.t824 = dx_hand_model_B.tmp_tmp_ds * 2.0F;
10665 dx_hand_model_B.t825 = dx_hand_model_B.tmp_tmp_kt * 2.0F;
10666 dx_hand_model_B.t832_re = dx_hand_model_B.sf_MATLABFunction_h.x *
10667 dx_hand_model_B.t476.re;
10668 dx_hand_model_B.t834_re = dx_hand_model_B.t832_re *
10669 dx_hand_model_B.sf_MATLABFunction2.x;
10670 dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.t834_re *
10671 dx_hand_model_B.sf_MATLABFunction_h.y;
10672 dx_hand_model_B.t826_re = dx_hand_model_B.tmp_tmp_cx *
10673 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10674 dx_hand_model_B.t836_re = dx_hand_model_B.t832_re *
10675 dx_hand_model_B.sf_MATLABFunction1_g.x;
10676 dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.t836_re *
10677 dx_hand_model_B.sf_MATLABFunction_h.y;
10678 dx_hand_model_B.t827_re = dx_hand_model_B.tmp_tmp_m1 *
10679 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;
10680 dx_hand_model_B.t828_re = dx_hand_model_B.t834_re *
10681 dx_hand_model_B.sf_MATLABFunction2.y *
10682 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10683 dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.sf_MATLABFunction2.x *
10684 dx_hand_model_B.t476.re * dx_hand_model_B.sf_MATLABFunction1_g.x;
10685 dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_da *
10686 dx_hand_model_B.sf_MATLABFunction_h.y;
10687 dx_hand_model_B.t829_re = dx_hand_model_B.t832_re *
10688 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;
10689 dx_hand_model_B.t830_re = dx_hand_model_B.t836_re *
10690 dx_hand_model_B.sf_MATLABFunction2.y *
10691 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10692 dx_hand_model_B.t831_re = dx_hand_model_B.t832_re *
10693 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10694 dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t834_re *
10695 dx_hand_model_B.sf_MATLABFunction_h.z;
10696 dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_pie *
10697 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10698 dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t836_re *
10699 dx_hand_model_B.sf_MATLABFunction_h.z;
10700 dx_hand_model_B.t833_re = dx_hand_model_B.tmp_tmp_c5 *
10701 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10702 dx_hand_model_B.t834_re = dx_hand_model_B.t834_re *
10703 dx_hand_model_B.sf_MATLABFunction2.z *
10704 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10705 dx_hand_model_B.t837_re = dx_hand_model_B.tmp_tmp_da *
10706 dx_hand_model_B.sf_MATLABFunction_h.z;
10707 dx_hand_model_B.t835_re = dx_hand_model_B.t837_re *
10708 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10709 dx_hand_model_B.t836_re = dx_hand_model_B.t836_re *
10710 dx_hand_model_B.sf_MATLABFunction2.z *
10711 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10712 dx_hand_model_B.t837_re = dx_hand_model_B.t837_re *
10713 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10714 dx_hand_model_B.t839_re = dx_hand_model_B.sf_MATLABFunction_h.y *
10715 dx_hand_model_B.t476.re;
10716 dx_hand_model_B.t840_re = dx_hand_model_B.t839_re *
10717 dx_hand_model_B.sf_MATLABFunction2.y;
10718 dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t840_re *
10719 dx_hand_model_B.sf_MATLABFunction_h.z;
10720 dx_hand_model_B.t838_re = dx_hand_model_B.tmp_tmp_be *
10721 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10722 dx_hand_model_B.t842_re = dx_hand_model_B.t839_re *
10723 dx_hand_model_B.sf_MATLABFunction1_g.y;
10724 dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t842_re *
10725 dx_hand_model_B.sf_MATLABFunction_h.z;
10726 dx_hand_model_B.t839_re = dx_hand_model_B.tmp_tmp_os *
10727 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10728 dx_hand_model_B.t840_re = dx_hand_model_B.t840_re *
10729 dx_hand_model_B.sf_MATLABFunction2.z *
10730 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10731 dx_hand_model_B.t987_re = dx_hand_model_B.sf_MATLABFunction2.y *
10732 dx_hand_model_B.t476.re * dx_hand_model_B.sf_MATLABFunction1_g.y;
10733 dx_hand_model_B.t843_re = dx_hand_model_B.t987_re *
10734 dx_hand_model_B.sf_MATLABFunction_h.z;
10735 dx_hand_model_B.t841_re = dx_hand_model_B.t843_re *
10736 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10737 dx_hand_model_B.t842_re = dx_hand_model_B.t842_re *
10738 dx_hand_model_B.sf_MATLABFunction2.z *
10739 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10740 dx_hand_model_B.t843_re = dx_hand_model_B.t843_re *
10741 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10742 dx_hand_model_B.tmp_tmp_jw *= 3729.0F;
10743 dx_hand_model_B.tmp_tmp_d4 *= 3729.0F;
10744 dx_hand_model_B.tmp_tmp_ob *= 3729.0F;
10745 dx_hand_model_B.tmp_tmp_ey *= 3729.0F;
10746 dx_hand_model_B.tmp_tmp_kv *= 2.0F;
10747 dx_hand_model_B.tmp_tmp_cy *= 3.0F;
10748 dx_hand_model_B.tmp_tmp_jk *= 2.0F;
10749 dx_hand_model_B.tmp_tmp_fz *= 2.0F;
10750 dx_hand_model_B.tmp_tmp_cm *= 2.0F;
10751 dx_hand_model_B.tmp_tmp_kq *= 3.0F;
10752 dx_hand_model_B.tmp_tmp_fnt *= 2.0F;
10753 dx_hand_model_B.tmp_tmp_iv *= 2.0F;
10754 dx_hand_model_B.tmp_tmp_nnx *= 3.0F;
10755 dx_hand_model_B.tmp_tmp_he *= 2.0F;
10756 dx_hand_model_B.tmp_tmp_hz *= 4.0F;
10757 dx_hand_model_B.tmp_tmp_nq *= 3.0F;
10758 dx_hand_model_B.tmp_tmp_mi *= 4.0F;
10759 dx_hand_model_B.tmp_tmp_kuk *= 3729.0F;
10760 dx_hand_model_B.tmp_tmp_fc *= 3729.0F;
10761 dx_hand_model_B.tmp_tmp_eh *= 3729.0F;
10762 dx_hand_model_B.tmp_tmp_jkf *= 3729.0F;
10763 dx_hand_model_B.tmp_tmp_hc *= 3729.0F;
10764 dx_hand_model_B.tmp_tmp_al *= 3729.0F;
10765 dx_hand_model_B.tmp_tmp_bs *= 3729.0F;
10766 dx_hand_model_B.tmp_tmp_f2 *= 3729.0F;
10767 dx_hand_model_B.tmp_tmp_dy *= 2.0F;
10768 dx_hand_model_B.tmp_tmp_li *= 2.0F;
10769 dx_hand_model_B.tmp_tmp_kg *= 3.0F;
10770 dx_hand_model_B.tmp_tmp_ft *= 2.0F;
10771 dx_hand_model_B.tmp_tmp_gd *= 2.0F;
10772 dx_hand_model_B.tmp_tmp_jc *= 2.0F;
10773 dx_hand_model_B.tmp_tmp_cqr *= 2.0F;
10774 dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.tmp_tmp_gbr * 3.0F;
10775 dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.tmp_tmp_ge * 3.0F;
10776 dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.tmp_tmp_izd * 2.0F;
10777 dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.tmp_tmp_ez * 2.0F;
10778 dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.tmp_tmp_mz * 2.0F;
10779 dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.tmp_tmp_og * 2.0F;
10780 dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.tmp_tmp_hnt * 2.0F;
10781 dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.tmp_tmp_oc * 4.0F;
10782 dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.tmp_tmp_hi * 3.0F;
10783 dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.tmp_tmp_axm * 3.0F;
10784 dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.tmp_tmp_tmp_k * 2.0F;
10785 dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.tmp_tmp_jzu * 2.0F;
10786 dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.tmp_tmp_tmp_eb * 3.0F;
10787 dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.tmp_tmp_tmp_j * 2.0F;
10788 dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.t34_a * 2.0F;
10789 dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.t33_p * 3.0F;
10790 dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.t31_p * 2.0F;
10791 dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.t30_k * 4.0F;
10792 dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.tmp_tmp_tmp_tmp_g * 2.0F;
10793 dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.tmp_tmp_tmp_o2 * 3.0F;
10794 dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.tmp_tmp_tmp_tmp * 2.0F;
10795 dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.tmp_tmp_tmp_ok * 4.0F;
10796 dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.tmp_tmp_tmp_g * 4.0F;
10797 dx_hand_model_B.tmp_tmp_tmp *= 2.0F;
10798 dx_hand_model_B.tmp_tmp_tmp_b *= 2.0F;
10799 dx_hand_model_B.tmp_tmp_g3 *= 4.0F;
10800 dx_hand_model_B.tmp_tmp_tmp_c1 *= 2.0F;
10801 dx_hand_model_B.tmp_tmp_tmp_c *= 2.0F;
10802 dx_hand_model_B.tmp_tmp_tmp_tmp = dx_hand_model_B.sf_MATLABFunction_h.x *
10803 dx_hand_model_B.sf_MATLABFunction2.z;
10804 dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.t13_b * dx_hand_model_B.t476.re;
10805 dx_hand_model_B.t13_b = dx_hand_model_B.tmp_tmp_oc *
10806 dx_hand_model_B.sf_MATLABFunction_h.x *
10807 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F;
10808 dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.t1313 * dx_hand_model_B.t476.re;
10809 dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_hi *
10810 dx_hand_model_B.sf_MATLABFunction_h.x *
10811 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;
10812 dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.t4_o * dx_hand_model_B.t476.re;
10813 dx_hand_model_B.tmp_tmp_tmp_ok = dx_hand_model_B.tmp_tmp_axm *
10814 dx_hand_model_B.sf_MATLABFunction2.x *
10815 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;
10816 dx_hand_model_B.t33_p = dx_hand_model_B.t15_g * dx_hand_model_B.t476.re;
10817 dx_hand_model_B.t15_g = dx_hand_model_B.t33_p *
10818 dx_hand_model_B.sf_MATLABFunction_h.x *
10819 dx_hand_model_B.sf_MATLABFunction2.x * 4.0F;
10820 dx_hand_model_B.t34_a = dx_hand_model_B.t7 * dx_hand_model_B.t476.re;
10821 dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.t34_a *
10822 dx_hand_model_B.sf_MATLABFunction_h.x *
10823 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;
10824 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.Sum_nf *
10825 dx_hand_model_B.t476.re;
10826 dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp_j *
10827 dx_hand_model_B.sf_MATLABFunction2.x *
10828 dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;
10829 dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.DataTypeConversion5_n *
10830 dx_hand_model_B.t476.re;
10831 dx_hand_model_B.t30_k = dx_hand_model_B.tmp_tmp_tmp_eb *
10832 dx_hand_model_B.sf_MATLABFunction2.y *
10833 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10834 dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.t3 * dx_hand_model_B.t476.re;
10835 dx_hand_model_B.t31_p = dx_hand_model_B.tmp_tmp_jzu *
10836 dx_hand_model_B.sf_MATLABFunction_h.y *
10837 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10838 dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.t14_a *
10839 dx_hand_model_B.t476.re;
10840 dx_hand_model_B.t14_a = dx_hand_model_B.tmp_tmp_tmp_k *
10841 dx_hand_model_B.sf_MATLABFunction_h.y *
10842 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;
10843 dx_hand_model_B.t33_p = dx_hand_model_B.t33_p *
10844 dx_hand_model_B.sf_MATLABFunction_h.y *
10845 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;
10846 dx_hand_model_B.t34_a = dx_hand_model_B.t34_a *
10847 dx_hand_model_B.sf_MATLABFunction_h.y *
10848 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10849 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_tmp_j *
10850 dx_hand_model_B.sf_MATLABFunction2.y *
10851 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10852 dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.tmp_tmp_tmp_eb *
10853 dx_hand_model_B.sf_MATLABFunction2.z *
10854 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10855 dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_jzu *
10856 dx_hand_model_B.sf_MATLABFunction_h.z *
10857 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10858 dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.tmp_tmp_tmp_k *
10859 dx_hand_model_B.sf_MATLABFunction_h.z *
10860 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10861 dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_axm *
10862 dx_hand_model_B.sf_MATLABFunction2.z *
10863 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10864 dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.tmp_tmp_hi *
10865 dx_hand_model_B.sf_MATLABFunction_h.z *
10866 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10867 dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_oc *
10868 dx_hand_model_B.sf_MATLABFunction_h.z *
10869 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10870 dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.tmp_tmp_cx *
10871 dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;
10872 dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.tmp_tmp_m1 *
10873 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10874 dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_da *
10875 dx_hand_model_B.sf_MATLABFunction2.y *
10876 dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;
10877 dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.tmp_tmp_pie *
10878 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10879 dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.tmp_tmp_c5 *
10880 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10881 dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.tmp_tmp_da *
10882 dx_hand_model_B.sf_MATLABFunction2.z *
10883 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10884 dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.tmp_tmp_be *
10885 dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;
10886 dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.tmp_tmp_os *
10887 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10888 dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.t987_re *
10889 dx_hand_model_B.sf_MATLABFunction2.z *
10890 dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;
10891 dx_hand_model_B.t987_re =
10892 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
10893 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
10894 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
10895 (((((((((((((((((((((((((((((((((((((((((-dx_hand_model_B.t28_h -
10896 dx_hand_model_B.tmp_tmp_m4e) - dx_hand_model_B.tmp_tmp_ktf) -
10897 dx_hand_model_B.tmp_tmp_a0x) - dx_hand_model_B.t32_p) -
10898 dx_hand_model_B.tmp_tmp_jkx) - dx_hand_model_B.tmp_tmp_kbp) -
10899 dx_hand_model_B.tmp_tmp_hj5) - dx_hand_model_B.tmp_tmp_d1) -
10900 dx_hand_model_B.t10_j) - dx_hand_model_B.t11_e) -
10901 dx_hand_model_B.tmp_tmp_j1) - dx_hand_model_B.t19_e) -
10902 dx_hand_model_B.t20_c) - dx_hand_model_B.t16_e) -
10903 dx_hand_model_B.tmp_tmp_n) - dx_hand_model_B.JTcomp_idx_3_tmp_my) -
10904 dx_hand_model_B.JTcomp_idx_3_tmp_j) - dx_hand_model_B.JTcomp_idx_3_tmp_n)
10905 - dx_hand_model_B.tmp_tmp_cg) - dx_hand_model_B.t1251) -
10906 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) -
10907 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) - dx_hand_model_B.tmp_tmp_dn) -
10908 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp) - dx_hand_model_B.tmp_tmp_fx) -
10909 dx_hand_model_B.tmp_tmp_pm) - dx_hand_model_B.tmp_tmp_nj) -
10910 dx_hand_model_B.t17_f) - dx_hand_model_B.tmp_tmp_k) -
10911 dx_hand_model_B.tmp_tmp_n3) - dx_hand_model_B.tmp_tmp_oy) -
10912 dx_hand_model_B.tmp_tmp_gg) - dx_hand_model_B.tmp_tmp_cq) -
10913 dx_hand_model_B.t1261) - dx_hand_model_B.t1328) - dx_hand_model_B.t739) -
10914 dx_hand_model_B.tmp_tmp_jp) - dx_hand_model_B.tmp_tmp_kn) -
10915 dx_hand_model_B.tmp_tmp_mx) - dx_hand_model_B.tmp_tmp_pr) -
10916 dx_hand_model_B.tmp_tmp_d) - dx_hand_model_B.tmp_tmp_dx) -
10917 dx_hand_model_B.tmp_tmp_g4k) - dx_hand_model_B.tmp_tmp_o30) -
10918 dx_hand_model_B.tmp_tmp_b) - dx_hand_model_B.t749) - dx_hand_model_B.t750)
10919 - dx_hand_model_B.tmp_tmp_pw) - dx_hand_model_B.t752) -
10920 dx_hand_model_B.tmp_tmp_pi) - dx_hand_model_B.t754) - dx_hand_model_B.t755)
10921 + dx_hand_model_B.t756.re) + dx_hand_model_B.t757_re) +
10922 dx_hand_model_B.t758_re) + dx_hand_model_B.t759_re) +
10923 dx_hand_model_B.t760_re) + dx_hand_model_B.t761_re) +
10924 dx_hand_model_B.t762_re) + dx_hand_model_B.t763_re) +
10925 dx_hand_model_B.t764_re) + dx_hand_model_B.t765_re) +
10926 dx_hand_model_B.t766_re) + dx_hand_model_B.t767_re) +
10927 dx_hand_model_B.t768_re) + dx_hand_model_B.t769_re) +
10928 dx_hand_model_B.t770_re) + dx_hand_model_B.t771_re) +
10929 dx_hand_model_B.t772_re) + dx_hand_model_B.t773_re) - dx_hand_model_B.t774)
10930 - dx_hand_model_B.t775) - dx_hand_model_B.t776) - dx_hand_model_B.t777) -
10931 dx_hand_model_B.t778) - dx_hand_model_B.t779) - dx_hand_model_B.t780) -
10932 dx_hand_model_B.t781) - dx_hand_model_B.t782) -
10933 dx_hand_model_B.tmp_tmp_lm5) - dx_hand_model_B.tmp_tmp_bf) -
10934 dx_hand_model_B.t785) - dx_hand_model_B.tmp_tmp_tmp_p) -
10935 dx_hand_model_B.tmp_tmp_tmp_cm) - dx_hand_model_B.tmp_tmp_tmp_kn) -
10936 dx_hand_model_B.tmp_tmp_tmp_ca) - dx_hand_model_B.t790) -
10937 dx_hand_model_B.tmp_tmp_tmp_i) - dx_hand_model_B.rtb_xH_sol_idx_0_re) -
10938 dx_hand_model_B.t10_tmp) - dx_hand_model_B.t794) -
10939 dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.t796) -
10940 dx_hand_model_B.t797) - dx_hand_model_B.tmp_tmp_tmp_ji) -
10941 dx_hand_model_B.tmp_tmp_tmp_tmp_a) - dx_hand_model_B.tmp_tmp_tmp_ol) -
10942 dx_hand_model_B.tmp_tmp_tmp_al) - dx_hand_model_B.t802) -
10943 dx_hand_model_B.t803) - dx_hand_model_B.t804) -
10944 dx_hand_model_B.rtb_xH_sol_idx_1_re) - dx_hand_model_B.t29_c) -
10945 dx_hand_model_B.t24_a) - dx_hand_model_B.t808) -
10946 dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.t810) -
10947 dx_hand_model_B.tmp_tmp_tmp_d) - dx_hand_model_B.t812) -
10948 dx_hand_model_B.t813) - dx_hand_model_B.t814) - dx_hand_model_B.t815) -
10949 dx_hand_model_B.t18_h) - dx_hand_model_B.t817) - dx_hand_model_B.t818) -
10950 dx_hand_model_B.t819) - dx_hand_model_B.t820) - dx_hand_model_B.t821) -
10951 dx_hand_model_B.t822) - dx_hand_model_B.t823) - dx_hand_model_B.t824) -
10952 dx_hand_model_B.t825) + dx_hand_model_B.t826_re) + dx_hand_model_B.t827_re)
10953 + dx_hand_model_B.t828_re) + dx_hand_model_B.t829_re) +
10954 dx_hand_model_B.t830_re) + dx_hand_model_B.t831_re) +
10955 dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +
10956 dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +
10957 dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +
10958 dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +
10959 dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +
10960 dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) +
10961 dx_hand_model_B.tmp_tmp_jw) + dx_hand_model_B.tmp_tmp_d4) +
10962 dx_hand_model_B.xD1_tmp_tmp_i) + dx_hand_model_B.tmp_tmp_ob) +
10963 dx_hand_model_B.tmp_tmp_ey) + dx_hand_model_B.xD1_tmp_tmp_c) +
10964 dx_hand_model_B.tmp_tmp_kv) + dx_hand_model_B.t1248) +
10965 dx_hand_model_B.t1250) + dx_hand_model_B.t1252) +
10966 dx_hand_model_B.tmp_tmp_cy) + dx_hand_model_B.tmp_tmp_jk) +
10967 dx_hand_model_B.tmp_tmp_fz) + dx_hand_model_B.t1212) +
10968 dx_hand_model_B.tmp_tmp_cm) + dx_hand_model_B.t1253) +
10969 dx_hand_model_B.t1254) + dx_hand_model_B.t1255) +
10970 dx_hand_model_B.tmp_tmp_kq) + dx_hand_model_B.tmp_tmp_fnt) +
10971 dx_hand_model_B.tmp_tmp_iv) + dx_hand_model_B.xD1_tmp_tmp) +
10972 dx_hand_model_B.tmp_tmp_nnx) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp) +
10973 dx_hand_model_B.JTcomp_idx_3_tmp) + dx_hand_model_B.JTcomp_idx_3_tmp_f) +
10974 dx_hand_model_B.JTcomp_idx_3_tmp_h) + dx_hand_model_B.tmp_tmp_he) +
10975 dx_hand_model_B.tmp_tmp_hz) + dx_hand_model_B.JTcomp_idx_3_tmp_m) +
10976 dx_hand_model_B.xD1_tmp) + dx_hand_model_B.xD1_tmp_i) +
10977 dx_hand_model_B.tmp_tmp_nq) + dx_hand_model_B.xD1_tmp_tmp_m) +
10978 dx_hand_model_B.xD1_tmp_p) + dx_hand_model_B.xD1_tmp_f) +
10979 dx_hand_model_B.tmp_tmp_mi) + dx_hand_model_B.xD1_tmp_tmp_o) +
10980 dx_hand_model_B.JTcomp_idx_3_tmp_a) + dx_hand_model_B.JTcomp_idx_3_tmp_k)
10981 + dx_hand_model_B.JTcomp_idx_3_tmp_p) + dx_hand_model_B.tmp_tmp_kuk) +
10982 dx_hand_model_B.tmp_tmp_fc) + dx_hand_model_B.tmp_tmp_eh) +
10983 dx_hand_model_B.tmp_tmp_jkf) + dx_hand_model_B.tmp_tmp_hc) +
10984 dx_hand_model_B.tmp_tmp_al) + dx_hand_model_B.tmp_tmp_bs) +
10985 dx_hand_model_B.tmp_tmp_f2) + dx_hand_model_B.tmp_tmp_dy) +
10986 dx_hand_model_B.tmp_tmp_li) + dx_hand_model_B.xD1_tmp_tmp_k) +
10987 dx_hand_model_B.t1312) + dx_hand_model_B.tmp_tmp_kg) +
10988 dx_hand_model_B.xD1_tmp_o) + dx_hand_model_B.tmp_tmp_ft) +
10989 dx_hand_model_B.tmp_tmp_gd) + dx_hand_model_B.tmp_tmp_jc) +
10990 dx_hand_model_B.t1226) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) +
10991 dx_hand_model_B.tmp_tmp_cqr) + dx_hand_model_B.tmp_tmp_egf) +
10992 dx_hand_model_B.tmp_tmp_mxd) + dx_hand_model_B.tmp_tmp_of) +
10993 dx_hand_model_B.tmp_tmp_tmp_o) + dx_hand_model_B.tmp_tmp_ai) +
10994 dx_hand_model_B.t8_h) + dx_hand_model_B.t9_tmp_d) +
10995 dx_hand_model_B.tmp_tmp_ji5) + dx_hand_model_B.tmp_tmp_jkm) +
10996 dx_hand_model_B.tmp_tmp_ee) + dx_hand_model_B.rtb_zH_sol_idx_0_re) +
10997 dx_hand_model_B.rtb_zH_sol_idx_1_re) + dx_hand_model_B.t26_tmp_g) +
10998 dx_hand_model_B.tmp_tmp_jy) + dx_hand_model_B.tmp_tmp_jb) +
10999 dx_hand_model_B.tmp_tmp_gi) + dx_hand_model_B.tmp_tmp_om) +
11000 dx_hand_model_B.tmp_tmp_hm4) + dx_hand_model_B.tmp_tmp_tmp_py) +
11001 dx_hand_model_B.tmp_tmp_c2b) + dx_hand_model_B.tmp_tmp_a0g) +
11002 dx_hand_model_B.tmp_tmp_lua) + dx_hand_model_B.t1256_tmp) +
11003 dx_hand_model_B.t33_tmp) + dx_hand_model_B.tmp_tmp_jcs) +
11004 dx_hand_model_B.tmp_tmp_ib) + dx_hand_model_B.t34_tmp) +
11005 dx_hand_model_B.t9_l) + dx_hand_model_B.tmp_tmp_mid) +
11006 dx_hand_model_B.tmp_tmp_ftf) + dx_hand_model_B.tmp_tmp_on) +
11007 dx_hand_model_B.tmp_tmp_iz5) + dx_hand_model_B.tmp_tmp_o4) +
11008 dx_hand_model_B.tmp_tmp_frj) + dx_hand_model_B.tmp_tmp_tmp) +
11009 dx_hand_model_B.tmp_tmp_tmp_b) + dx_hand_model_B.tmp_tmp_g3) +
11010 dx_hand_model_B.tmp_tmp_tmp_c1) + dx_hand_model_B.tmp_tmp_tmp_c) -
11011 dx_hand_model_B.t13_b) - dx_hand_model_B.tmp_tmp_tmp_g) -
11012 dx_hand_model_B.tmp_tmp_tmp_ok) - dx_hand_model_B.t15_g) -
11013 dx_hand_model_B.tmp_tmp_tmp_o2) - dx_hand_model_B.tmp_tmp_tmp_tmp_g) -
11014 dx_hand_model_B.t30_k) - dx_hand_model_B.t31_p) - dx_hand_model_B.t14_a) -
11015 dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) -
11016 dx_hand_model_B.tmp_tmp_tmp_j) -
11017 dx_hand_model_B.tmp_tmp_tmp_eb) -
11018 dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_tmp_k)
11019 - dx_hand_model_B.tmp_tmp_axm) - dx_hand_model_B.tmp_tmp_hi) -
11020 dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_cx) -
11021 dx_hand_model_B.tmp_tmp_m1) - dx_hand_model_B.tmp_tmp_hnt) -
11022 dx_hand_model_B.tmp_tmp_pie) - dx_hand_model_B.tmp_tmp_c5) -
11023 dx_hand_model_B.tmp_tmp_da) - dx_hand_model_B.tmp_tmp_be) -
11024 dx_hand_model_B.tmp_tmp_os) - dx_hand_model_B.tmp_tmp_og;
11025 dx_hand_model_B.t1251 =
11026 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
11027 ((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t28_h
11028 + dx_hand_model_B.tmp_tmp_m4e) + dx_hand_model_B.tmp_tmp_ktf) +
11029 dx_hand_model_B.tmp_tmp_a0x) + dx_hand_model_B.t32_p) +
11030 dx_hand_model_B.tmp_tmp_jkx) + dx_hand_model_B.tmp_tmp_kbp) +
11031 dx_hand_model_B.tmp_tmp_hj5) + dx_hand_model_B.tmp_tmp_d1) +
11032 dx_hand_model_B.t10_j) + dx_hand_model_B.t11_e) +
11033 dx_hand_model_B.tmp_tmp_j1) + dx_hand_model_B.t19_e) +
11034 dx_hand_model_B.t20_c) + dx_hand_model_B.t16_e) +
11035 dx_hand_model_B.tmp_tmp_n) + dx_hand_model_B.JTcomp_idx_3_tmp_my) +
11036 dx_hand_model_B.JTcomp_idx_3_tmp_j) + dx_hand_model_B.JTcomp_idx_3_tmp_n)
11037 + dx_hand_model_B.tmp_tmp_cg) + dx_hand_model_B.t1251) +
11038 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) +
11039 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) + dx_hand_model_B.tmp_tmp_dn) +
11040 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp) + dx_hand_model_B.tmp_tmp_fx) +
11041 dx_hand_model_B.tmp_tmp_pm) + dx_hand_model_B.tmp_tmp_nj) +
11042 dx_hand_model_B.t17_f) + dx_hand_model_B.tmp_tmp_k) +
11043 dx_hand_model_B.tmp_tmp_n3) + dx_hand_model_B.tmp_tmp_oy) +
11044 dx_hand_model_B.tmp_tmp_gg) + dx_hand_model_B.tmp_tmp_cq) +
11045 dx_hand_model_B.t1261) + dx_hand_model_B.t1328) + dx_hand_model_B.t739) +
11046 dx_hand_model_B.tmp_tmp_jp) + dx_hand_model_B.tmp_tmp_kn) +
11047 dx_hand_model_B.tmp_tmp_mx) + dx_hand_model_B.tmp_tmp_pr) +
11048 dx_hand_model_B.tmp_tmp_d) + dx_hand_model_B.tmp_tmp_dx) +
11049 dx_hand_model_B.tmp_tmp_g4k) + dx_hand_model_B.tmp_tmp_o30) +
11050 dx_hand_model_B.tmp_tmp_b) + dx_hand_model_B.t749) + dx_hand_model_B.t750)
11051 + dx_hand_model_B.tmp_tmp_pw) + dx_hand_model_B.t752) +
11052 dx_hand_model_B.tmp_tmp_pi) + dx_hand_model_B.t754) + dx_hand_model_B.t755)
11053 + dx_hand_model_B.t756.re) + dx_hand_model_B.t757_re) +
11054 dx_hand_model_B.t758_re) + dx_hand_model_B.t759_re) +
11055 dx_hand_model_B.t760_re) + dx_hand_model_B.t761_re) +
11056 dx_hand_model_B.t762_re) + dx_hand_model_B.t763_re) +
11057 dx_hand_model_B.t764_re) + dx_hand_model_B.t765_re) +
11058 dx_hand_model_B.t766_re) + dx_hand_model_B.t767_re) +
11059 dx_hand_model_B.t768_re) + dx_hand_model_B.t769_re) +
11060 dx_hand_model_B.t770_re) + dx_hand_model_B.t771_re) +
11061 dx_hand_model_B.t772_re) + dx_hand_model_B.t773_re) + dx_hand_model_B.t774)
11062 + dx_hand_model_B.t775) + dx_hand_model_B.t776) + dx_hand_model_B.t777) +
11063 dx_hand_model_B.t778) + dx_hand_model_B.t779) + dx_hand_model_B.t780) +
11064 dx_hand_model_B.t781) + dx_hand_model_B.t782) +
11065 dx_hand_model_B.tmp_tmp_lm5) + dx_hand_model_B.tmp_tmp_bf) +
11066 dx_hand_model_B.t785) + dx_hand_model_B.tmp_tmp_tmp_p) +
11067 dx_hand_model_B.tmp_tmp_tmp_cm) + dx_hand_model_B.tmp_tmp_tmp_kn) +
11068 dx_hand_model_B.tmp_tmp_tmp_ca) + dx_hand_model_B.t790) +
11069 dx_hand_model_B.tmp_tmp_tmp_i) + dx_hand_model_B.rtb_xH_sol_idx_0_re) +
11070 dx_hand_model_B.t10_tmp) + dx_hand_model_B.t794) +
11071 dx_hand_model_B.tmp_tmp_tmp_oc) + dx_hand_model_B.t796) +
11072 dx_hand_model_B.t797) + dx_hand_model_B.tmp_tmp_tmp_ji) +
11073 dx_hand_model_B.tmp_tmp_tmp_tmp_a) + dx_hand_model_B.tmp_tmp_tmp_ol) +
11074 dx_hand_model_B.tmp_tmp_tmp_al) + dx_hand_model_B.t802) +
11075 dx_hand_model_B.t803) + dx_hand_model_B.t804) +
11076 dx_hand_model_B.rtb_xH_sol_idx_1_re) + dx_hand_model_B.t29_c) +
11077 dx_hand_model_B.t24_a) + dx_hand_model_B.t808) +
11078 dx_hand_model_B.tmp_tmp_tmp_h) + dx_hand_model_B.t810) +
11079 dx_hand_model_B.tmp_tmp_tmp_d) + dx_hand_model_B.t812) +
11080 dx_hand_model_B.t813) + dx_hand_model_B.t814) +
11081 dx_hand_model_B.t815) + dx_hand_model_B.t18_h) +
11082 dx_hand_model_B.t817) + dx_hand_model_B.t818) +
11083 dx_hand_model_B.t819) + dx_hand_model_B.t820) +
11084 dx_hand_model_B.t821) + dx_hand_model_B.t822) +
11085 dx_hand_model_B.t823) + dx_hand_model_B.t824) +
11086 dx_hand_model_B.t825) + dx_hand_model_B.t826_re) +
11087 dx_hand_model_B.t827_re) + dx_hand_model_B.t828_re) +
11088 dx_hand_model_B.t829_re) + dx_hand_model_B.t830_re) +
11089 dx_hand_model_B.t831_re;
11090 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t12_o *
11091 (((((dx_hand_model_B.tmp_tmp_tmp_tmp_gy +
11092 dx_hand_model_B.sf_MATLABFunction1_g.y *
11093 dx_hand_model_B.sf_MATLABFunction_h.z) +
11094 dx_hand_model_B.sf_MATLABFunction2.y *
11095 dx_hand_model_B.sf_MATLABFunction1_g.z) -
11096 dx_hand_model_B.sf_MATLABFunction2.y *
11097 dx_hand_model_B.sf_MATLABFunction_h.z) -
11098 dx_hand_model_B.sf_MATLABFunction_h.y *
11099 dx_hand_model_B.sf_MATLABFunction1_g.z) -
11100 dx_hand_model_B.sf_MATLABFunction1_g.y *
11101 dx_hand_model_B.sf_MATLABFunction2.z) * dx_hand_model_B.t27_m;
11102 dx_hand_model_B.rtb_xH_sol_idx_0_re =
11103 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
11104 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1251
11105 + dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +
11106 dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +
11107 dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +
11108 dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +
11109 dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +
11110 dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) -
11111 dx_hand_model_B.tmp_tmp_jw) - dx_hand_model_B.tmp_tmp_ob) -
11112 dx_hand_model_B.tmp_tmp_ey) - dx_hand_model_B.tmp_tmp_d4) -
11113 dx_hand_model_B.xD1_tmp_tmp_i) - dx_hand_model_B.xD1_tmp_tmp_c) -
11114 dx_hand_model_B.JTcomp_idx_3_tmp_a) - dx_hand_model_B.xD1_tmp) -
11115 dx_hand_model_B.JTcomp_idx_3_tmp_tmp) - dx_hand_model_B.JTcomp_idx_3_tmp)
11116 - dx_hand_model_B.xD1_tmp_tmp_m) - dx_hand_model_B.xD1_tmp_f) -
11117 dx_hand_model_B.JTcomp_idx_3_tmp_k) - dx_hand_model_B.xD1_tmp_i) -
11118 dx_hand_model_B.tmp_tmp_nnx) - dx_hand_model_B.JTcomp_idx_3_tmp_f) -
11119 dx_hand_model_B.JTcomp_idx_3_tmp_h) - dx_hand_model_B.tmp_tmp_he) -
11120 dx_hand_model_B.tmp_tmp_hz) - dx_hand_model_B.JTcomp_idx_3_tmp_m) -
11121 dx_hand_model_B.tmp_tmp_nq) - dx_hand_model_B.xD1_tmp_p) -
11122 dx_hand_model_B.tmp_tmp_mi) - dx_hand_model_B.xD1_tmp_tmp_o) -
11123 dx_hand_model_B.JTcomp_idx_3_tmp_p) - dx_hand_model_B.tmp_tmp_kuk) -
11124 dx_hand_model_B.tmp_tmp_fc) - dx_hand_model_B.tmp_tmp_eh) -
11125 dx_hand_model_B.tmp_tmp_jkf) - dx_hand_model_B.tmp_tmp_hc) -
11126 dx_hand_model_B.tmp_tmp_al) - dx_hand_model_B.tmp_tmp_bs) -
11127 dx_hand_model_B.tmp_tmp_f2) - dx_hand_model_B.t13_b) -
11128 dx_hand_model_B.t15_g) - dx_hand_model_B.tmp_tmp_tmp_g) -
11129 dx_hand_model_B.tmp_tmp_tmp_o2) - dx_hand_model_B.tmp_tmp_tmp_ok) -
11130 dx_hand_model_B.tmp_tmp_tmp_tmp_g) - dx_hand_model_B.t14_a) -
11131 dx_hand_model_B.t33_p) - dx_hand_model_B.t31_p) - dx_hand_model_B.t34_a) -
11132 dx_hand_model_B.t30_k) - dx_hand_model_B.tmp_tmp_tmp_j) -
11133 dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_k) -
11134 dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_hi) -
11135 dx_hand_model_B.tmp_tmp_tmp_eb) - dx_hand_model_B.tmp_tmp_axm) -
11136 dx_hand_model_B.tmp_tmp_kv) - dx_hand_model_B.tmp_tmp_ft) -
11137 dx_hand_model_B.tmp_tmp_ai) - dx_hand_model_B.tmp_tmp_gd) -
11138 dx_hand_model_B.tmp_tmp_dy) - dx_hand_model_B.t1252) -
11139 dx_hand_model_B.t1250) - dx_hand_model_B.xD1_tmp_o) -
11140 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) - dx_hand_model_B.t8_h) -
11141 dx_hand_model_B.t1248) - dx_hand_model_B.tmp_tmp_cqr) -
11142 dx_hand_model_B.tmp_tmp_jy) - dx_hand_model_B.tmp_tmp_li) -
11143 dx_hand_model_B.xD1_tmp_tmp_k) - dx_hand_model_B.tmp_tmp_fz) -
11144 dx_hand_model_B.tmp_tmp_jc) - dx_hand_model_B.tmp_tmp_egf) -
11145 dx_hand_model_B.tmp_tmp_of) - dx_hand_model_B.tmp_tmp_jk) -
11146 dx_hand_model_B.tmp_tmp_cy) - dx_hand_model_B.t1212) -
11147 dx_hand_model_B.tmp_tmp_kg) - dx_hand_model_B.t1226) -
11148 dx_hand_model_B.tmp_tmp_tmp_o) - dx_hand_model_B.rtb_zH_sol_idx_0_re) -
11149 dx_hand_model_B.t1312) - dx_hand_model_B.tmp_tmp_mxd) -
11150 dx_hand_model_B.tmp_tmp_c2b) - dx_hand_model_B.tmp_tmp_ji5) -
11151 dx_hand_model_B.tmp_tmp_cm) - dx_hand_model_B.tmp_tmp_ib) -
11152 dx_hand_model_B.tmp_tmp_a0g) - dx_hand_model_B.tmp_tmp_ee) -
11153 dx_hand_model_B.t9_tmp_d) - dx_hand_model_B.t26_tmp_g) -
11154 dx_hand_model_B.t1255) - dx_hand_model_B.t1254) - dx_hand_model_B.t34_tmp)
11155 - dx_hand_model_B.t1253) - dx_hand_model_B.tmp_tmp_hm4) -
11156 dx_hand_model_B.tmp_tmp_mid) - dx_hand_model_B.tmp_tmp_jkm) -
11157 dx_hand_model_B.tmp_tmp_gi) - dx_hand_model_B.tmp_tmp_om) -
11158 dx_hand_model_B.tmp_tmp_lua) - dx_hand_model_B.t1256_tmp) -
11159 dx_hand_model_B.tmp_tmp_iv) - dx_hand_model_B.tmp_tmp_fnt) -
11160 dx_hand_model_B.tmp_tmp_kq) - dx_hand_model_B.rtb_zH_sol_idx_1_re) -
11161 dx_hand_model_B.tmp_tmp_tmp_py) - dx_hand_model_B.xD1_tmp_tmp) -
11162 dx_hand_model_B.tmp_tmp_jcs) - dx_hand_model_B.t9_l) -
11163 dx_hand_model_B.tmp_tmp_jb) - dx_hand_model_B.t33_tmp) -
11164 dx_hand_model_B.tmp_tmp_on) -
11165 dx_hand_model_B.tmp_tmp_ftf) -
11166 dx_hand_model_B.tmp_tmp_iz5) - dx_hand_model_B.tmp_tmp_cx)
11167 - dx_hand_model_B.tmp_tmp_m1) - dx_hand_model_B.tmp_tmp_hnt)
11168 - dx_hand_model_B.tmp_tmp_pie) - dx_hand_model_B.tmp_tmp_c5)
11169 - dx_hand_model_B.tmp_tmp_da) - dx_hand_model_B.tmp_tmp_be) -
11170 dx_hand_model_B.tmp_tmp_os) - dx_hand_model_B.tmp_tmp_og) -
11171 dx_hand_model_B.tmp_tmp_o4) - dx_hand_model_B.tmp_tmp_frj) -
11172 dx_hand_model_B.tmp_tmp_tmp) - dx_hand_model_B.tmp_tmp_tmp_b) -
11173 dx_hand_model_B.tmp_tmp_g3) - dx_hand_model_B.tmp_tmp_tmp_c1) -
11174 dx_hand_model_B.tmp_tmp_tmp_c) *
11175 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 0.5F +
11176 dx_hand_model_B.t25_h;
11177 dx_hand_model_B.rtb_xH_sol_idx_1_re = dx_hand_model_B.t25_h -
11178 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t987_re *
11179 0.5F;
11180 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t12_o *
11181 dx_hand_model_B.t27_m * (((((dx_hand_model_B.tmp_tmp_tmp_tmp +
11182 dx_hand_model_B.sf_MATLABFunction1_g.x *
11183 dx_hand_model_B.sf_MATLABFunction_h.z) +
11184 dx_hand_model_B.sf_MATLABFunction2.x *
11185 dx_hand_model_B.sf_MATLABFunction1_g.z) -
11186 dx_hand_model_B.sf_MATLABFunction2.x *
11187 dx_hand_model_B.sf_MATLABFunction_h.z) -
11188 dx_hand_model_B.sf_MATLABFunction_h.x *
11189 dx_hand_model_B.sf_MATLABFunction1_g.z) -
11190 dx_hand_model_B.sf_MATLABFunction1_g.x *
11191 dx_hand_model_B.sf_MATLABFunction2.z);
11192 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t12_o *
11193 (((((((((((((((((((((dx_hand_model_B.sf_MATLABFunction1_g.x * 3729.0F +
11194 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +
11195 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +
11196 dx_hand_model_B.tmp_tmp_tmp_om) + dx_hand_model_B.t1313
11197 * dx_hand_model_B.sf_MATLABFunction1_g.x) +
11198 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) +
11199 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) +
11200 dx_hand_model_B.t7 * dx_hand_model_B.sf_MATLABFunction1_g.x)
11201 + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
11202 dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) +
11203 dx_hand_model_B.t9_tmp_n *
11204 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) +
11205 dx_hand_model_B.tmp_tmp_tmp_tmp *
11206 dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) -
11207 dx_hand_model_B.sf_MATLABFunction2.x * 3729.0F) -
11208 dx_hand_model_B.JTcomp_idx_3_tmp_c * 2.0F) -
11209 dx_hand_model_B.t1309 * 2.0F) -
11210 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * 2.0F) +
11211 dx_hand_model_B.JTcomp_idx_3_tmp_i) -
11212 dx_hand_model_B.DataTypeConversion5_n *
11213 dx_hand_model_B.sf_MATLABFunction1_g.x) - dx_hand_model_B.t3 *
11214 dx_hand_model_B.sf_MATLABFunction1_g.x) - dx_hand_model_B.t4_o *
11215 dx_hand_model_B.sf_MATLABFunction1_g.x) - dx_hand_model_B.Sum_nf *
11216 dx_hand_model_B.sf_MATLABFunction1_g.x) -
11217 dx_hand_model_B.sf_MATLABFunction2.x *
11218 dx_hand_model_B.sf_MATLABFunction2.y *
11219 dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) -
11220 dx_hand_model_B.sf_MATLABFunction2.x *
11221 dx_hand_model_B.sf_MATLABFunction2.z *
11222 dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) * -0.5F;
11223 dx_hand_model_B.Sum_nf = dx_hand_model_B.DataTypeConversion5_n -
11224 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
11225 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1251
11226 + dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +
11227 dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +
11228 dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +
11229 dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +
11230 dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +
11231 dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) -
11232 dx_hand_model_B.tmp_tmp_jw) - dx_hand_model_B.tmp_tmp_d4) -
11233 dx_hand_model_B.xD1_tmp_tmp_i) - dx_hand_model_B.tmp_tmp_ob) -
11234 dx_hand_model_B.tmp_tmp_ey) - dx_hand_model_B.xD1_tmp_tmp_c) -
11235 dx_hand_model_B.tmp_tmp_kv) - dx_hand_model_B.t1248) -
11236 dx_hand_model_B.t1250) - dx_hand_model_B.t1252) -
11237 dx_hand_model_B.tmp_tmp_cy) - dx_hand_model_B.tmp_tmp_jk) -
11238 dx_hand_model_B.tmp_tmp_fz) - dx_hand_model_B.t1212) -
11239 dx_hand_model_B.tmp_tmp_cm) - dx_hand_model_B.t1253) -
11240 dx_hand_model_B.t1254) - dx_hand_model_B.t1255) -
11241 dx_hand_model_B.tmp_tmp_kq) - dx_hand_model_B.tmp_tmp_fnt) -
11242 dx_hand_model_B.tmp_tmp_iv) - dx_hand_model_B.xD1_tmp_tmp) -
11243 dx_hand_model_B.tmp_tmp_nnx) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp) -
11244 dx_hand_model_B.JTcomp_idx_3_tmp) - dx_hand_model_B.JTcomp_idx_3_tmp_f) -
11245 dx_hand_model_B.JTcomp_idx_3_tmp_h) - dx_hand_model_B.tmp_tmp_he) -
11246 dx_hand_model_B.tmp_tmp_hz) - dx_hand_model_B.JTcomp_idx_3_tmp_m) -
11247 dx_hand_model_B.xD1_tmp) - dx_hand_model_B.xD1_tmp_i) -
11248 dx_hand_model_B.tmp_tmp_nq) - dx_hand_model_B.xD1_tmp_tmp_m) -
11249 dx_hand_model_B.xD1_tmp_p) - dx_hand_model_B.xD1_tmp_f) -
11250 dx_hand_model_B.tmp_tmp_mi) - dx_hand_model_B.xD1_tmp_tmp_o) -
11251 dx_hand_model_B.JTcomp_idx_3_tmp_a) - dx_hand_model_B.JTcomp_idx_3_tmp_k)
11252 - dx_hand_model_B.JTcomp_idx_3_tmp_p) - dx_hand_model_B.tmp_tmp_kuk) -
11253 dx_hand_model_B.tmp_tmp_fc) - dx_hand_model_B.tmp_tmp_eh) -
11254 dx_hand_model_B.tmp_tmp_jkf) - dx_hand_model_B.tmp_tmp_hc) -
11255 dx_hand_model_B.tmp_tmp_al) - dx_hand_model_B.tmp_tmp_bs) -
11256 dx_hand_model_B.tmp_tmp_f2) - dx_hand_model_B.tmp_tmp_dy) -
11257 dx_hand_model_B.tmp_tmp_li) - dx_hand_model_B.xD1_tmp_tmp_k) -
11258 dx_hand_model_B.t1312) - dx_hand_model_B.tmp_tmp_kg) -
11259 dx_hand_model_B.xD1_tmp_o) - dx_hand_model_B.tmp_tmp_ft) -
11260 dx_hand_model_B.tmp_tmp_gd) - dx_hand_model_B.tmp_tmp_jc) -
11261 dx_hand_model_B.t1226) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) -
11262 dx_hand_model_B.tmp_tmp_cqr) - dx_hand_model_B.tmp_tmp_egf) -
11263 dx_hand_model_B.tmp_tmp_mxd) - dx_hand_model_B.tmp_tmp_of) -
11264 dx_hand_model_B.tmp_tmp_tmp_o) - dx_hand_model_B.tmp_tmp_ai) -
11265 dx_hand_model_B.t8_h) - dx_hand_model_B.t9_tmp_d) -
11266 dx_hand_model_B.tmp_tmp_ji5) - dx_hand_model_B.tmp_tmp_jkm) -
11267 dx_hand_model_B.tmp_tmp_ee) - dx_hand_model_B.rtb_zH_sol_idx_0_re) -
11268 dx_hand_model_B.rtb_zH_sol_idx_1_re) - dx_hand_model_B.t26_tmp_g) -
11269 dx_hand_model_B.tmp_tmp_jy) - dx_hand_model_B.tmp_tmp_jb) -
11270 dx_hand_model_B.tmp_tmp_gi) - dx_hand_model_B.tmp_tmp_om) -
11271 dx_hand_model_B.tmp_tmp_hm4) - dx_hand_model_B.tmp_tmp_tmp_py) -
11272 dx_hand_model_B.tmp_tmp_c2b) - dx_hand_model_B.tmp_tmp_a0g) -
11273 dx_hand_model_B.tmp_tmp_lua) - dx_hand_model_B.t1256_tmp) -
11274 dx_hand_model_B.t33_tmp) - dx_hand_model_B.tmp_tmp_jcs) -
11275 dx_hand_model_B.tmp_tmp_ib) - dx_hand_model_B.t34_tmp) -
11276 dx_hand_model_B.t9_l) - dx_hand_model_B.tmp_tmp_mid) -
11277 dx_hand_model_B.tmp_tmp_ftf) - dx_hand_model_B.tmp_tmp_on) -
11278 dx_hand_model_B.tmp_tmp_iz5) - dx_hand_model_B.tmp_tmp_o4) -
11279 dx_hand_model_B.tmp_tmp_frj) - dx_hand_model_B.tmp_tmp_tmp) -
11280 dx_hand_model_B.tmp_tmp_tmp_b) - dx_hand_model_B.tmp_tmp_g3) -
11281 dx_hand_model_B.tmp_tmp_tmp_c1) - dx_hand_model_B.tmp_tmp_tmp_c) -
11282 dx_hand_model_B.t13_b) - dx_hand_model_B.t15_g) -
11283 dx_hand_model_B.tmp_tmp_tmp_g) - dx_hand_model_B.tmp_tmp_tmp_o2) -
11284 dx_hand_model_B.tmp_tmp_tmp_ok) - dx_hand_model_B.tmp_tmp_tmp_tmp_g) -
11285 dx_hand_model_B.t14_a) - dx_hand_model_B.t33_p) - dx_hand_model_B.t31_p) -
11286 dx_hand_model_B.t34_a) - dx_hand_model_B.t30_k) -
11287 dx_hand_model_B.tmp_tmp_tmp_j) -
11288 dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_k)
11289 - dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_hi)
11290 - dx_hand_model_B.tmp_tmp_tmp_eb) - dx_hand_model_B.tmp_tmp_axm)
11291 - dx_hand_model_B.tmp_tmp_cx) - dx_hand_model_B.tmp_tmp_m1) -
11292 dx_hand_model_B.tmp_tmp_hnt) - dx_hand_model_B.tmp_tmp_pie) -
11293 dx_hand_model_B.tmp_tmp_c5) - dx_hand_model_B.tmp_tmp_da) -
11294 dx_hand_model_B.tmp_tmp_be) - dx_hand_model_B.tmp_tmp_os) -
11295 dx_hand_model_B.tmp_tmp_og) *
11296 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 0.5F;
11297 dx_hand_model_B.t1313 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
11298 dx_hand_model_B.t987_re * 0.5F + dx_hand_model_B.DataTypeConversion5_n;
11299 dx_hand_model_B.rtb_zH_sol_idx_0_re =
11300 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
11301 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1251
11302 + dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +
11303 dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +
11304 dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +
11305 dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +
11306 dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +
11307 dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) -
11308 dx_hand_model_B.tmp_tmp_jw) - dx_hand_model_B.tmp_tmp_d4) -
11309 dx_hand_model_B.xD1_tmp_tmp_i) - dx_hand_model_B.tmp_tmp_ob) -
11310 dx_hand_model_B.tmp_tmp_ey) - dx_hand_model_B.xD1_tmp_tmp_c) -
11311 dx_hand_model_B.tmp_tmp_kv) - dx_hand_model_B.t1248) -
11312 dx_hand_model_B.t1250) - dx_hand_model_B.t1252) -
11313 dx_hand_model_B.tmp_tmp_cy) - dx_hand_model_B.tmp_tmp_jk) -
11314 dx_hand_model_B.tmp_tmp_fz) - dx_hand_model_B.t1212) -
11315 dx_hand_model_B.tmp_tmp_cm) - dx_hand_model_B.t1253) -
11316 dx_hand_model_B.t1254) - dx_hand_model_B.t1255) -
11317 dx_hand_model_B.tmp_tmp_kq) - dx_hand_model_B.tmp_tmp_fnt) -
11318 dx_hand_model_B.tmp_tmp_iv) - dx_hand_model_B.xD1_tmp_tmp) -
11319 dx_hand_model_B.tmp_tmp_nnx) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp) -
11320 dx_hand_model_B.JTcomp_idx_3_tmp) - dx_hand_model_B.JTcomp_idx_3_tmp_f) -
11321 dx_hand_model_B.JTcomp_idx_3_tmp_h) - dx_hand_model_B.tmp_tmp_he) -
11322 dx_hand_model_B.tmp_tmp_hz) - dx_hand_model_B.JTcomp_idx_3_tmp_m) -
11323 dx_hand_model_B.xD1_tmp) - dx_hand_model_B.xD1_tmp_i) -
11324 dx_hand_model_B.tmp_tmp_nq) - dx_hand_model_B.xD1_tmp_tmp_m) -
11325 dx_hand_model_B.xD1_tmp_p) - dx_hand_model_B.xD1_tmp_f) -
11326 dx_hand_model_B.tmp_tmp_mi) - dx_hand_model_B.xD1_tmp_tmp_o) -
11327 dx_hand_model_B.JTcomp_idx_3_tmp_a) - dx_hand_model_B.JTcomp_idx_3_tmp_k)
11328 - dx_hand_model_B.JTcomp_idx_3_tmp_p) - dx_hand_model_B.tmp_tmp_kuk) -
11329 dx_hand_model_B.tmp_tmp_fc) - dx_hand_model_B.tmp_tmp_eh) -
11330 dx_hand_model_B.tmp_tmp_jkf) - dx_hand_model_B.tmp_tmp_hc) -
11331 dx_hand_model_B.tmp_tmp_al) - dx_hand_model_B.tmp_tmp_bs) -
11332 dx_hand_model_B.tmp_tmp_f2) - dx_hand_model_B.tmp_tmp_dy) -
11333 dx_hand_model_B.tmp_tmp_li) - dx_hand_model_B.xD1_tmp_tmp_k) -
11334 dx_hand_model_B.t1312) - dx_hand_model_B.tmp_tmp_kg) -
11335 dx_hand_model_B.xD1_tmp_o) - dx_hand_model_B.tmp_tmp_ft) -
11336 dx_hand_model_B.tmp_tmp_gd) - dx_hand_model_B.tmp_tmp_jc) -
11337 dx_hand_model_B.t1226) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) -
11338 dx_hand_model_B.tmp_tmp_cqr) - dx_hand_model_B.tmp_tmp_egf) -
11339 dx_hand_model_B.tmp_tmp_mxd) - dx_hand_model_B.tmp_tmp_of) -
11340 dx_hand_model_B.tmp_tmp_tmp_o) - dx_hand_model_B.tmp_tmp_ai) -
11341 dx_hand_model_B.t8_h) - dx_hand_model_B.t9_tmp_d) -
11342 dx_hand_model_B.tmp_tmp_ji5) - dx_hand_model_B.tmp_tmp_jkm) -
11343 dx_hand_model_B.tmp_tmp_ee) - dx_hand_model_B.rtb_zH_sol_idx_0_re) -
11344 dx_hand_model_B.rtb_zH_sol_idx_1_re) - dx_hand_model_B.t26_tmp_g) -
11345 dx_hand_model_B.tmp_tmp_jy) - dx_hand_model_B.tmp_tmp_jb) -
11346 dx_hand_model_B.tmp_tmp_gi) - dx_hand_model_B.tmp_tmp_om) -
11347 dx_hand_model_B.tmp_tmp_hm4) - dx_hand_model_B.tmp_tmp_tmp_py) -
11348 dx_hand_model_B.tmp_tmp_c2b) - dx_hand_model_B.tmp_tmp_a0g) -
11349 dx_hand_model_B.tmp_tmp_lua) - dx_hand_model_B.t1256_tmp) -
11350 dx_hand_model_B.t33_tmp) - dx_hand_model_B.tmp_tmp_jcs) -
11351 dx_hand_model_B.tmp_tmp_ib) - dx_hand_model_B.t34_tmp) -
11352 dx_hand_model_B.t9_l) - dx_hand_model_B.tmp_tmp_mid) -
11353 dx_hand_model_B.tmp_tmp_ftf) - dx_hand_model_B.tmp_tmp_on) -
11354 dx_hand_model_B.tmp_tmp_iz5) - dx_hand_model_B.tmp_tmp_o4) -
11355 dx_hand_model_B.tmp_tmp_frj) - dx_hand_model_B.tmp_tmp_tmp) -
11356 dx_hand_model_B.tmp_tmp_tmp_b) - dx_hand_model_B.tmp_tmp_g3) -
11357 dx_hand_model_B.tmp_tmp_tmp_c1) - dx_hand_model_B.tmp_tmp_tmp_c) -
11358 dx_hand_model_B.t13_b) - dx_hand_model_B.tmp_tmp_tmp_g) -
11359 dx_hand_model_B.tmp_tmp_tmp_ok) - dx_hand_model_B.t15_g) -
11360 dx_hand_model_B.tmp_tmp_tmp_o2) - dx_hand_model_B.tmp_tmp_tmp_tmp_g) -
11361 dx_hand_model_B.t30_k) - dx_hand_model_B.t31_p) - dx_hand_model_B.t14_a) -
11362 dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) -
11363 dx_hand_model_B.tmp_tmp_tmp_j) -
11364 dx_hand_model_B.tmp_tmp_tmp_eb) -
11365 dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_tmp_k)
11366 - dx_hand_model_B.tmp_tmp_axm) - dx_hand_model_B.tmp_tmp_hi) -
11367 dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_cx) -
11368 dx_hand_model_B.tmp_tmp_m1) - dx_hand_model_B.tmp_tmp_hnt) -
11369 dx_hand_model_B.tmp_tmp_pie) - dx_hand_model_B.tmp_tmp_c5) -
11370 dx_hand_model_B.tmp_tmp_da) - dx_hand_model_B.tmp_tmp_be) -
11371 dx_hand_model_B.tmp_tmp_os) - dx_hand_model_B.tmp_tmp_og) *
11372 dx_hand_model_B.t27_m * 0.5F;
11373 dx_hand_model_B.rtb_zH_sol_idx_1_re = dx_hand_model_B.t27_m *
11374 dx_hand_model_B.t987_re * -0.5F;
11375 }
11376
11377 /* End of MATLAB Function: '<S243>/MATLAB Function3' */
11378
11379 /* ComplexToRealImag: '<S243>/Complex to Real-Imag3' */
11380 dx_hand_model_B.q_dif[0] = dx_hand_model_B.Sum_nf;
11381 dx_hand_model_B.q_dif[1] = dx_hand_model_B.t1313;
11382
11383 /* MATLAB Function: '<S243>/MATLAB Function9' incorporates:
11384 * ComplexToRealImag: '<S243>/Complex to Real-Imag2'
11385 * ComplexToRealImag: '<S243>/Complex to Real-Imag3'
11386 * ComplexToRealImag: '<S243>/Complex to Real-Imag4'
11387 */
11388 if (dx_hand_model_B.Sum_nf > dx_hand_model_B.t1313) {
11389 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.rtb_xH_sol_idx_0_re;
11390 dx_hand_model_B.t1313 = dx_hand_model_B.Sum_nf;
11391 dx_hand_model_B.Sum_nf = dx_hand_model_B.rtb_zH_sol_idx_0_re;
11392 } else {
11393 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.rtb_xH_sol_idx_1_re;
11394 dx_hand_model_B.Sum_nf = dx_hand_model_B.rtb_zH_sol_idx_1_re;
11395 }
11396
11397 /* End of MATLAB Function: '<S243>/MATLAB Function9' */
11398
11399 /* ComplexToRealImag: '<S227>/Complex to Real-Imag8' */
11400 dx_hand_model_B.TmpSignalConversionAtSFun_h[0] =
11401 dx_hand_model_B.DataTypeConversion5_n;
11402 dx_hand_model_B.TmpSignalConversionAtSFun_h[1] = dx_hand_model_B.t1313;
11403 dx_hand_model_B.TmpSignalConversionAtSFun_h[2] = dx_hand_model_B.Sum_nf;
11404
11405 /* MATLAB Function: '<S242>/MATLAB Function3' */
11406 dx_hand_mod_MATLABFunction3(dx_hand_model_B.TmpSignalConversionAtSFun_h,
11407 &dx_hand_model_B.sf_MATLABFunction3_b);
11408
11409 /* MATLAB Function: '<S242>/MATLAB Function1' incorporates:
11410 * ComplexToRealImag: '<S227>/Complex to Real-Imag2'
11411 */
11412 dx_hand_mod_MATLABFunction1(dx_hand_model_B.Memory_d,
11413 &dx_hand_model_B.sf_MATLABFunction1_h);
11414
11415 /* ComplexToRealImag: '<S242>/Complex to Real-Imag2' incorporates:
11416 * MATLAB Function: '<S242>/MATLAB Function5'
11417 */
11418 dx_hand_model_B.ComplextoRealImag_b[0] =
11419 (dx_hand_model_B.sf_MATLABFunction3_b.x -
11420 dx_hand_model_B.sf_MATLABFunction1_h.x) * 52.0F / 73.0F +
11421 dx_hand_model_B.sf_MATLABFunction1_h.x;
11422 dx_hand_model_B.ComplextoRealImag_b[1] =
11423 (dx_hand_model_B.sf_MATLABFunction3_b.y -
11424 dx_hand_model_B.sf_MATLABFunction1_h.y) * 52.0F / 73.0F +
11425 dx_hand_model_B.sf_MATLABFunction1_h.y;
11426 dx_hand_model_B.ComplextoRealImag_b[2] =
11427 (dx_hand_model_B.sf_MATLABFunction3_b.z -
11428 dx_hand_model_B.sf_MATLABFunction1_h.z) * 52.0F / 73.0F +
11429 dx_hand_model_B.sf_MATLABFunction1_h.z;
11430
11431 /* MATLAB Function: '<S233>/MATLAB Function3' incorporates:
11432 * ComplexToRealImag: '<S227>/Complex to Real-Imag10'
11433 */
11434 dx_hand_mod_MATLABFunction3(dx_hand_model_B.ComplextoRealImag_b,
11435 &dx_hand_model_B.sf_MATLABFunction3_bs);
11436
11437 /* MATLAB Function: '<S242>/MATLAB Function2' incorporates:
11438 * ComplexToRealImag: '<S227>/Complex to Real-Imag4'
11439 */
11440 dx_hand_mod_MATLABFunction1(dx_hand_model_B.I,
11441 &dx_hand_model_B.sf_MATLABFunction2_g);
11442
11443 /* MATLAB Function: '<S242>/MATLAB Function' */
11444 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.sf_MATLABFunction1_h.x
11445 * dx_hand_model_B.sf_MATLABFunction1_h.x;
11446 dx_hand_model_B.t3 = dx_hand_model_B.sf_MATLABFunction3_b.x *
11447 dx_hand_model_B.sf_MATLABFunction3_b.x;
11448 dx_hand_model_B.t4_o = dx_hand_model_B.sf_MATLABFunction1_h.z *
11449 dx_hand_model_B.sf_MATLABFunction1_h.z;
11450 dx_hand_model_B.t1313 = dx_hand_model_B.sf_MATLABFunction3_b.z *
11451 dx_hand_model_B.sf_MATLABFunction3_b.z;
11452 dx_hand_model_B.Sum_nf = dx_hand_model_B.sf_MATLABFunction1_h.y *
11453 dx_hand_model_B.sf_MATLABFunction1_h.y;
11454 dx_hand_model_B.t7 = dx_hand_model_B.sf_MATLABFunction2_g.y *
11455 dx_hand_model_B.sf_MATLABFunction2_g.y;
11456 dx_hand_model_B.t8_h = dx_hand_model_B.sf_MATLABFunction2_g.x *
11457 dx_hand_model_B.sf_MATLABFunction2_g.x;
11458 dx_hand_model_B.t9_l = dx_hand_model_B.sf_MATLABFunction3_b.y *
11459 dx_hand_model_B.sf_MATLABFunction3_b.y;
11460 dx_hand_model_B.t10_j = dx_hand_model_B.sf_MATLABFunction2_g.z *
11461 dx_hand_model_B.sf_MATLABFunction2_g.z;
11462 dx_hand_model_B.t11_e = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;
11463 dx_hand_model_B.t12_o = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;
11464 dx_hand_model_B.t1212 = dx_hand_model_B.sf_MATLABFunction1_h.x *
11465 dx_hand_model_B.sf_MATLABFunction3_b.x;
11466 dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.sf_MATLABFunction1_h.x *
11467 dx_hand_model_B.sf_MATLABFunction2_g.x;
11468 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.sf_MATLABFunction3_b.x *
11469 dx_hand_model_B.sf_MATLABFunction2_g.x;
11470 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.JTcomp_idx_3_tmp_i *
11471 dx_hand_model_B.sf_MATLABFunction1_h.y;
11472 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.JTcomp_idx_3_tmp_i *
11473 dx_hand_model_B.sf_MATLABFunction1_h.z;
11474 dx_hand_model_B.t15_g = dx_hand_model_B.sf_MATLABFunction1_h.y *
11475 dx_hand_model_B.sf_MATLABFunction3_b.y;
11476 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.sf_MATLABFunction1_h.y *
11477 dx_hand_model_B.sf_MATLABFunction2_g.y;
11478 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp =
11479 dx_hand_model_B.sf_MATLABFunction3_b.y *
11480 dx_hand_model_B.sf_MATLABFunction2_g.y;
11481 dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp
11482 * dx_hand_model_B.sf_MATLABFunction1_h.z;
11483 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = dx_hand_model_B.t1212 *
11484 dx_hand_model_B.sf_MATLABFunction1_h.y;
11485 dx_hand_model_B.t13_b = dx_hand_model_B.JTcomp_idx_3_tmp_c *
11486 dx_hand_model_B.sf_MATLABFunction1_h.y;
11487 dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t1212 *
11488 dx_hand_model_B.sf_MATLABFunction1_h.z;
11489 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.JTcomp_idx_3_tmp_c *
11490 dx_hand_model_B.sf_MATLABFunction1_h.z;
11491 dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t15_g *
11492 dx_hand_model_B.sf_MATLABFunction1_h.z;
11493 dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.JTcomp_idx_3_tmp_n *
11494 dx_hand_model_B.sf_MATLABFunction1_h.z;
11495 dx_hand_model_B.t1309 = dx_hand_model_B.DataTypeConversion5_n *
11496 dx_hand_model_B.t1313;
11497 dx_hand_model_B.t27_m = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;
11498 dx_hand_model_B.t28_h = dx_hand_model_B.t4_o * dx_hand_model_B.t8_h;
11499 dx_hand_model_B.t14_a = dx_hand_model_B.t1313 * dx_hand_model_B.t8_h;
11500 dx_hand_model_B.t1226 = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;
11501 dx_hand_model_B.t1248 = dx_hand_model_B.t4_o * dx_hand_model_B.t9_l;
11502 dx_hand_model_B.t1250 = dx_hand_model_B.t4_o * dx_hand_model_B.t7;
11503 dx_hand_model_B.t1252 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;
11504 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.t1313 *
11505 dx_hand_model_B.sf_MATLABFunction1_h.x;
11506 dx_hand_model_B.t1253 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
11507 dx_hand_model_B.sf_MATLABFunction2_g.x;
11508 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t4_o *
11509 dx_hand_model_B.sf_MATLABFunction3_b.x;
11510 dx_hand_model_B.t1254 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
11511 dx_hand_model_B.sf_MATLABFunction2_g.x;
11512 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t1313 *
11513 dx_hand_model_B.sf_MATLABFunction1_h.y;
11514 dx_hand_model_B.t749 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
11515 dx_hand_model_B.sf_MATLABFunction2_g.y;
11516 dx_hand_model_B.t1251 = dx_hand_model_B.t4_o *
11517 dx_hand_model_B.sf_MATLABFunction3_b.y;
11518 dx_hand_model_B.t32_p = dx_hand_model_B.t1251 *
11519 dx_hand_model_B.sf_MATLABFunction2_g.y;
11520 dx_hand_model_B.t1255 = dx_hand_model_B.DataTypeConversion5_n *
11521 dx_hand_model_B.t9_l;
11522 dx_hand_model_B.t1312 = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;
11523 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.DataTypeConversion5_n *
11524 dx_hand_model_B.t7;
11525 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.Sum_nf *
11526 dx_hand_model_B.t8_h;
11527 dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t3 * dx_hand_model_B.t7;
11528 dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t8_h * dx_hand_model_B.t9_l;
11529 dx_hand_model_B.t19_e = dx_hand_model_B.DataTypeConversion5_n *
11530 dx_hand_model_B.t10_j;
11531 dx_hand_model_B.t17_f = dx_hand_model_B.t3 * dx_hand_model_B.t10_j;
11532 dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.Sum_nf * dx_hand_model_B.t10_j;
11533 dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.t9_l * dx_hand_model_B.t10_j;
11534 dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.t7 *
11535 dx_hand_model_B.sf_MATLABFunction1_h.x *
11536 dx_hand_model_B.sf_MATLABFunction3_b.x;
11537 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t9_l *
11538 dx_hand_model_B.sf_MATLABFunction1_h.x;
11539 dx_hand_model_B.JTcomp_idx_3_tmp_tmp =
11540 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *
11541 dx_hand_model_B.sf_MATLABFunction2_g.x;
11542 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.Sum_nf *
11543 dx_hand_model_B.sf_MATLABFunction3_b.x;
11544 dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
11545 dx_hand_model_B.sf_MATLABFunction2_g.x;
11546 dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.t10_j *
11547 dx_hand_model_B.sf_MATLABFunction1_h.x *
11548 dx_hand_model_B.sf_MATLABFunction3_b.x;
11549 dx_hand_model_B.t757_re = dx_hand_model_B.DataTypeConversion5_n *
11550 dx_hand_model_B.sf_MATLABFunction3_b.y;
11551 dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t757_re *
11552 dx_hand_model_B.sf_MATLABFunction2_g.y;
11553 dx_hand_model_B.t760_re = dx_hand_model_B.t3 *
11554 dx_hand_model_B.sf_MATLABFunction1_h.y;
11555 dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t760_re *
11556 dx_hand_model_B.sf_MATLABFunction2_g.y;
11557 dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.t8_h *
11558 dx_hand_model_B.sf_MATLABFunction1_h.y *
11559 dx_hand_model_B.sf_MATLABFunction3_b.y;
11560 dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.t10_j *
11561 dx_hand_model_B.sf_MATLABFunction1_h.y *
11562 dx_hand_model_B.sf_MATLABFunction3_b.y;
11563 dx_hand_model_B.t1261 = dx_hand_model_B.t3 *
11564 dx_hand_model_B.sf_MATLABFunction1_h.z;
11565 dx_hand_model_B.t1328 = dx_hand_model_B.t9_l *
11566 dx_hand_model_B.sf_MATLABFunction1_h.z;
11567 dx_hand_model_B.xD1_tmp = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
11568 dx_hand_model_B.sf_MATLABFunction3_b.y;
11569 dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
11570 dx_hand_model_B.sf_MATLABFunction2_g.y;
11571 dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t13_b *
11572 dx_hand_model_B.sf_MATLABFunction3_b.y;
11573 dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t13_b *
11574 dx_hand_model_B.sf_MATLABFunction2_g.y;
11575 dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t1212 *
11576 dx_hand_model_B.sf_MATLABFunction3_b.y;
11577 dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.tmp_tmp_nnx *
11578 dx_hand_model_B.sf_MATLABFunction2_g.y;
11579 dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.xD1_tmp_tmp *
11580 dx_hand_model_B.sf_MATLABFunction3_b.y;
11581 dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.JTcomp_idx_3_tmp_c *
11582 dx_hand_model_B.sf_MATLABFunction3_b.y;
11583 dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.tmp_tmp_iv *
11584 dx_hand_model_B.sf_MATLABFunction2_g.y;
11585 dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.xD1_tmp_tmp *
11586 dx_hand_model_B.sf_MATLABFunction2_g.y;
11587 dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.JTcomp_idx_3_tmp_i *
11588 dx_hand_model_B.sf_MATLABFunction3_b.y;
11589 dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.tmp_tmp_fnt *
11590 dx_hand_model_B.sf_MATLABFunction2_g.y;
11591 dx_hand_model_B.t739 = dx_hand_model_B.JTcomp_idx_3_tmp_j *
11592 dx_hand_model_B.sf_MATLABFunction3_b.z;
11593 dx_hand_model_B.t750 = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
11594 dx_hand_model_B.sf_MATLABFunction3_b.z;
11595 dx_hand_model_B.t752 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
11596 dx_hand_model_B.sf_MATLABFunction3_b.z;
11597 dx_hand_model_B.t754 = dx_hand_model_B.tmp_tmp_dn *
11598 dx_hand_model_B.sf_MATLABFunction3_b.z;
11599 dx_hand_model_B.t755 = dx_hand_model_B.tmp_tmp_bf *
11600 dx_hand_model_B.sf_MATLABFunction3_b.z;
11601 dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.JTcomp_idx_3_tmp_my *
11602 dx_hand_model_B.sf_MATLABFunction3_b.z;
11603 dx_hand_model_B.t16_e =
11604 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1255
11605 * 5329.0F + dx_hand_model_B.t1312 * 5329.0F) + dx_hand_model_B.xD1_tmp_o *
11606 5329.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * 5329.0F) +
11607 dx_hand_model_B.xD1_tmp_tmp_k * 5329.0F) + dx_hand_model_B.xD1_tmp_tmp_i *
11608 5329.0F) + dx_hand_model_B.t1309 * 5329.0F) + dx_hand_model_B.t27_m *
11609 5329.0F) + dx_hand_model_B.t19_e * 5329.0F) + dx_hand_model_B.t28_h *
11610 5329.0F) + dx_hand_model_B.t17_f * 5329.0F) + dx_hand_model_B.t14_a *
11611 5329.0F) + dx_hand_model_B.t1226 * 5329.0F) + dx_hand_model_B.t1248 *
11612 5329.0F) + dx_hand_model_B.tmp_tmp_kq * 5329.0F) + dx_hand_model_B.t1250 *
11613 5329.0F) + dx_hand_model_B.tmp_tmp_cm * 5329.0F) + dx_hand_model_B.t1252 *
11614 5329.0F) + dx_hand_model_B.xD1_tmp_i * 10658.0F) +
11615 dx_hand_model_B.xD1_tmp_tmp_m * 10658.0F) + dx_hand_model_B.xD1_tmp_f *
11616 10658.0F) + dx_hand_model_B.xD1_tmp_tmp_o * 10658.0F) +
11617 dx_hand_model_B.JTcomp_idx_3_tmp_a * 10658.0F) +
11618 dx_hand_model_B.JTcomp_idx_3_tmp_k * 10658.0F) +
11619 dx_hand_model_B.JTcomp_idx_3_tmp_j * dx_hand_model_B.sf_MATLABFunction2_g.z *
11620 10658.0F) + dx_hand_model_B.t750 * 10658.0F) + dx_hand_model_B.t1212 *
11621 dx_hand_model_B.sf_MATLABFunction3_b.z *
11622 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) + dx_hand_model_B.t752 *
11623 10658.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_c *
11624 dx_hand_model_B.sf_MATLABFunction3_b.z *
11625 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +
11626 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
11627 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +
11628 dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.sf_MATLABFunction2_g.z *
11629 10658.0F) + dx_hand_model_B.t755 * 10658.0F) + dx_hand_model_B.t15_g *
11630 dx_hand_model_B.sf_MATLABFunction3_b.z *
11631 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +
11632 dx_hand_model_B.tmp_tmp_cy * 10658.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
11633 dx_hand_model_B.sf_MATLABFunction3_b.z *
11634 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +
11635 dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction2_g.z
11636 * 10658.0F) - dx_hand_model_B.xD1_tmp_tmp_c * 10658.0F) -
11637 dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 10658.0F) -
11638 dx_hand_model_B.JTcomp_idx_3_tmp * 10658.0F) - dx_hand_model_B.tmp_tmp_fz *
11639 10658.0F) - dx_hand_model_B.t1253 * 10658.0F) - dx_hand_model_B.t1254 *
11640 10658.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_f * 10658.0F) -
11641 dx_hand_model_B.JTcomp_idx_3_tmp_h * 10658.0F) -
11642 dx_hand_model_B.JTcomp_idx_3_tmp_m * 10658.0F) -
11643 dx_hand_model_B.tmp_tmp_jk * 10658.0F) -
11644 dx_hand_model_B.t749 * 10658.0F) - dx_hand_model_B.t32_p *
11645 10658.0F) - dx_hand_model_B.DataTypeConversion5_n *
11646 dx_hand_model_B.sf_MATLABFunction3_b.z *
11647 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -
11648 dx_hand_model_B.t1261 * dx_hand_model_B.sf_MATLABFunction2_g.z *
11649 10658.0F) - dx_hand_model_B.t8_h *
11650 dx_hand_model_B.sf_MATLABFunction1_h.z *
11651 dx_hand_model_B.sf_MATLABFunction3_b.z * 10658.0F) -
11652 dx_hand_model_B.Sum_nf * dx_hand_model_B.sf_MATLABFunction3_b.z *
11653 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -
11654 dx_hand_model_B.t1328 * dx_hand_model_B.sf_MATLABFunction2_g.z *
11655 10658.0F) - dx_hand_model_B.t7 *
11656 dx_hand_model_B.sf_MATLABFunction1_h.z *
11657 dx_hand_model_B.sf_MATLABFunction3_b.z * 10658.0F) -
11658 dx_hand_model_B.xD1_tmp * 10658.0F) - dx_hand_model_B.xD1_tmp_p *
11659 10658.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_p * 10658.0F) -
11660 dx_hand_model_B.t739 * 10658.0F) -
11661 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
11662 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -
11663 dx_hand_model_B.JTcomp_idx_3_tmp_i *
11664 dx_hand_model_B.sf_MATLABFunction3_b.z *
11665 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) - dx_hand_model_B.t754
11666 * 10658.0F) - dx_hand_model_B.tmp_tmp_bf *
11667 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -
11668 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *
11669 dx_hand_model_B.sf_MATLABFunction3_b.z *
11670 dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F;
11671 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t4_o *
11672 dx_hand_model_B.sf_MATLABFunction1_h.x;
11673 dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.JTcomp_idx_3_tmp_n *
11674 dx_hand_model_B.sf_MATLABFunction3_b.x;
11675 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.JTcomp_idx_3_tmp_n *
11676 dx_hand_model_B.sf_MATLABFunction2_g.x;
11677 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b =
11678 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
11679 dx_hand_model_B.sf_MATLABFunction3_b.x;
11680 dx_hand_model_B.t15_g = dx_hand_model_B.t1313 *
11681 dx_hand_model_B.sf_MATLABFunction3_b.x *
11682 dx_hand_model_B.sf_MATLABFunction2_g.x;
11683 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t4_o *
11684 dx_hand_model_B.sf_MATLABFunction1_h.y;
11685 dx_hand_model_B.t759_re = dx_hand_model_B.JTcomp_idx_3_tmp_n *
11686 dx_hand_model_B.sf_MATLABFunction3_b.y;
11687 dx_hand_model_B.t758_re = dx_hand_model_B.JTcomp_idx_3_tmp_n *
11688 dx_hand_model_B.sf_MATLABFunction2_g.y;
11689 dx_hand_model_B.JTcomp_idx_3_tmp_n =
11690 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
11691 dx_hand_model_B.sf_MATLABFunction3_b.y;
11692 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t1313 *
11693 dx_hand_model_B.sf_MATLABFunction3_b.y *
11694 dx_hand_model_B.sf_MATLABFunction2_g.y;
11695 dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t1309 *
11696 dx_hand_model_B.sf_MATLABFunction1_h.z;
11697 dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t27_m *
11698 dx_hand_model_B.sf_MATLABFunction1_h.z;
11699 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.t28_h *
11700 dx_hand_model_B.sf_MATLABFunction1_h.z;
11701 dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t1226 *
11702 dx_hand_model_B.sf_MATLABFunction1_h.z;
11703 dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t1248 *
11704 dx_hand_model_B.sf_MATLABFunction1_h.z;
11705 dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t1250 *
11706 dx_hand_model_B.sf_MATLABFunction1_h.z;
11707 dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t1255 *
11708 dx_hand_model_B.sf_MATLABFunction1_h.z;
11709 dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t1312 *
11710 dx_hand_model_B.sf_MATLABFunction1_h.z;
11711 dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.xD1_tmp_o *
11712 dx_hand_model_B.sf_MATLABFunction1_h.z;
11713 dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
11714 dx_hand_model_B.sf_MATLABFunction1_h.z;
11715 dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.xD1_tmp_tmp_k *
11716 dx_hand_model_B.sf_MATLABFunction1_h.z;
11717 dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.xD1_tmp_tmp_i *
11718 dx_hand_model_B.sf_MATLABFunction1_h.z;
11719 dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t19_e *
11720 dx_hand_model_B.sf_MATLABFunction1_h.z;
11721 dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.t17_f *
11722 dx_hand_model_B.sf_MATLABFunction1_h.z;
11723 dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.tmp_tmp_kq *
11724 dx_hand_model_B.sf_MATLABFunction1_h.z;
11725 dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.tmp_tmp_cm *
11726 dx_hand_model_B.sf_MATLABFunction1_h.z;
11727 dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.t1253 *
11728 dx_hand_model_B.sf_MATLABFunction1_h.z;
11729 dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.t15_g *
11730 dx_hand_model_B.sf_MATLABFunction1_h.z;
11731 dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.t1253 *
11732 dx_hand_model_B.sf_MATLABFunction3_b.z;
11733 dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t1254 *
11734 dx_hand_model_B.sf_MATLABFunction1_h.z;
11735 dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.t749 *
11736 dx_hand_model_B.sf_MATLABFunction1_h.z;
11737 dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *
11738 dx_hand_model_B.sf_MATLABFunction1_h.z;
11739 dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.t749 *
11740 dx_hand_model_B.sf_MATLABFunction3_b.z;
11741 dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t32_p *
11742 dx_hand_model_B.sf_MATLABFunction1_h.z;
11743 dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
11744 dx_hand_model_B.sf_MATLABFunction1_h.z;
11745 dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.JTcomp_idx_3_tmp_c *
11746 dx_hand_model_B.sf_MATLABFunction3_b.z;
11747 dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t1254 *
11748 dx_hand_model_B.sf_MATLABFunction3_b.z;
11749 dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.JTcomp_idx_3_tmp_n *
11750 dx_hand_model_B.sf_MATLABFunction1_h.z;
11751 dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.t759_re *
11752 dx_hand_model_B.sf_MATLABFunction3_b.z;
11753 dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.t32_p *
11754 dx_hand_model_B.sf_MATLABFunction3_b.z;
11755 dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.xD1_tmp_i *
11756 dx_hand_model_B.sf_MATLABFunction1_h.z;
11757 dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.xD1_tmp_tmp_m *
11758 dx_hand_model_B.sf_MATLABFunction1_h.z;
11759 dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.xD1_tmp_f *
11760 dx_hand_model_B.sf_MATLABFunction1_h.z;
11761 dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.xD1_tmp_tmp_o *
11762 dx_hand_model_B.sf_MATLABFunction1_h.z;
11763 dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.JTcomp_idx_3_tmp_a *
11764 dx_hand_model_B.sf_MATLABFunction1_h.z;
11765 dx_hand_model_B.t20_c = dx_hand_model_B.JTcomp_idx_3_tmp_k *
11766 dx_hand_model_B.sf_MATLABFunction1_h.z;
11767 dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t1309 *
11768 dx_hand_model_B.sf_MATLABFunction3_b.z;
11769 dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.t14_a *
11770 dx_hand_model_B.sf_MATLABFunction1_h.z;
11771 dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.t1226 *
11772 dx_hand_model_B.sf_MATLABFunction3_b.z;
11773 dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.t1252 *
11774 dx_hand_model_B.sf_MATLABFunction1_h.z;
11775 dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.t27_m *
11776 dx_hand_model_B.sf_MATLABFunction3_b.z;
11777 dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.t1248 *
11778 dx_hand_model_B.sf_MATLABFunction3_b.z;
11779 dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.xD1_tmp_tmp_c *
11780 dx_hand_model_B.sf_MATLABFunction1_h.z;
11781 dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.JTcomp_idx_3_tmp_tmp *
11782 dx_hand_model_B.sf_MATLABFunction1_h.z;
11783 dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.JTcomp_idx_3_tmp *
11784 dx_hand_model_B.sf_MATLABFunction1_h.z;
11785 dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.tmp_tmp_fz *
11786 dx_hand_model_B.sf_MATLABFunction1_h.z;
11787 dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.JTcomp_idx_3_tmp_f *
11788 dx_hand_model_B.sf_MATLABFunction1_h.z;
11789 dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.JTcomp_idx_3_tmp_h *
11790 dx_hand_model_B.sf_MATLABFunction1_h.z;
11791 dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.JTcomp_idx_3_tmp_m *
11792 dx_hand_model_B.sf_MATLABFunction1_h.z;
11793 dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.JTcomp_idx_3_tmp_i *
11794 dx_hand_model_B.sf_MATLABFunction3_b.z;
11795 dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.tmp_tmp_jk *
11796 dx_hand_model_B.sf_MATLABFunction1_h.z;
11797 dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.t758_re *
11798 dx_hand_model_B.sf_MATLABFunction3_b.z;
11799 dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.xD1_tmp *
11800 dx_hand_model_B.sf_MATLABFunction1_h.z;
11801 dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.xD1_tmp_p *
11802 dx_hand_model_B.sf_MATLABFunction1_h.z;
11803 dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.JTcomp_idx_3_tmp_p *
11804 dx_hand_model_B.sf_MATLABFunction1_h.z;
11805 dx_hand_model_B.t17_f =
11806 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
11807 (((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_cqr * 7592.0F +
11808 dx_hand_model_B.JTcomp_idx_3_tmp_j * 3066.0F) +
11809 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e * 3066.0F) + dx_hand_model_B.t14_a *
11810 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +
11811 dx_hand_model_B.tmp_tmp_gd * 7592.0F) + dx_hand_model_B.tmp_tmp_bf * 3066.0F)
11812 + dx_hand_model_B.tmp_tmp_m4e * 3066.0F) + dx_hand_model_B.t1252 *
11813 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) -
11814 dx_hand_model_B.tmp_tmp_k * 15184.0F) - dx_hand_model_B.tmp_tmp_n3 * 6132.0F)
11815 - dx_hand_model_B.tmp_tmp_cq * 15184.0F) - dx_hand_model_B.tmp_tmp_jp *
11816 6132.0F) + dx_hand_model_B.tmp_tmp_ktf * 3066.0F) +
11817 dx_hand_model_B.tmp_tmp_a0x * 3066.0F) + dx_hand_model_B.tmp_tmp_jkx *
11818 3066.0F) + dx_hand_model_B.tmp_tmp_kbp * 3066.0F) + dx_hand_model_B.t1255 *
11819 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) + dx_hand_model_B.t1312 *
11820 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +
11821 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F)
11822 + dx_hand_model_B.tmp_tmp_hj5 * 3066.0F) +
11823 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.sf_MATLABFunction3_b.z
11824 * 7592.0F) + dx_hand_model_B.tmp_tmp_d1 * 3066.0F) +
11825 dx_hand_model_B.xD1_tmp_tmp_k * dx_hand_model_B.sf_MATLABFunction3_b.z *
11826 7592.0F) + dx_hand_model_B.xD1_tmp_tmp_i *
11827 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +
11828 dx_hand_model_B.JTcomp_idx_3_tmp_my * 3066.0F) + dx_hand_model_B.tmp_tmp_j1 *
11829 3066.0F) + dx_hand_model_B.tmp_tmp_kg * 7592.0F) + dx_hand_model_B.t19_e *
11830 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) - dx_hand_model_B.t1309 *
11831 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +
11832 dx_hand_model_B.tmp_tmp_n * 3066.0F) - dx_hand_model_B.t27_m *
11833 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -
11834 dx_hand_model_B.tmp_tmp_jc * 12118.0F) + dx_hand_model_B.t28_h *
11835 dx_hand_model_B.sf_MATLABFunction3_b.z * 1460.0F) + dx_hand_model_B.t17_f *
11836 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +
11837 dx_hand_model_B.tmp_tmp_dn * 3066.0F) + dx_hand_model_B.tmp_tmp_cg * 3066.0F)
11838 + dx_hand_model_B.tmp_tmp_li * 7592.0F) + dx_hand_model_B.tmp_tmp_kq *
11839 dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) - dx_hand_model_B.t1226 *
11840 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +
11841 dx_hand_model_B.tmp_tmp_fx * 3066.0F) - dx_hand_model_B.t1248 *
11842 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -
11843 dx_hand_model_B.tmp_tmp_ft * 12118.0F) + dx_hand_model_B.t1250 *
11844 dx_hand_model_B.sf_MATLABFunction3_b.z * 1460.0F) +
11845 dx_hand_model_B.tmp_tmp_cm * dx_hand_model_B.sf_MATLABFunction3_b.z *
11846 7592.0F) - dx_hand_model_B.tmp_tmp_dy * 6132.0F) -
11847 dx_hand_model_B.tmp_tmp_f2 * 6132.0F) - dx_hand_model_B.tmp_tmp_bs * 6132.0F)
11848 - dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.sf_MATLABFunction3_b.z *
11849 15184.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp *
11850 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) -
11851 dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.sf_MATLABFunction3_b.z *
11852 15184.0F) - dx_hand_model_B.tmp_tmp_kn * 15184.0F) -
11853 dx_hand_model_B.tmp_tmp_mx * 6132.0F) - dx_hand_model_B.tmp_tmp_al * 6132.0F)
11854 + dx_hand_model_B.JTcomp_idx_3_tmp_c *
11855 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) +
11856 dx_hand_model_B.tmp_tmp_pm * 9052.0F) + dx_hand_model_B.tmp_tmp_fc * 6132.0F)
11857 - dx_hand_model_B.tmp_tmp_hc * 6132.0F) - dx_hand_model_B.tmp_tmp_jkf *
11858 6132.0F) - dx_hand_model_B.tmp_tmp_eh * 6132.0F) -
11859 dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.sf_MATLABFunction2_g.z *
11860 6132.0F) - dx_hand_model_B.tmp_tmp_fz *
11861 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11862 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
11863 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +
11864 dx_hand_model_B.tmp_tmp_nj * 15184.0F) - dx_hand_model_B.tmp_tmp_pr *
11865 9052.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_f *
11866 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) -
11867 dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.sf_MATLABFunction3_b.z *
11868 15184.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_m *
11869 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) + dx_hand_model_B.t1253 *
11870 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) + dx_hand_model_B.t1254 *
11871 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) - dx_hand_model_B.t15_g *
11872 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) -
11873 dx_hand_model_B.tmp_tmp_d * 15184.0F) - dx_hand_model_B.tmp_tmp_dx * 6132.0F)
11874 - dx_hand_model_B.tmp_tmp_kuk * 6132.0F) + dx_hand_model_B.t759_re *
11875 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) +
11876 dx_hand_model_B.tmp_tmp_oy * 9052.0F) + dx_hand_model_B.tmp_tmp_mi * 6132.0F)
11877 - dx_hand_model_B.DataTypeConversion5_n *
11878 dx_hand_model_B.sf_MATLABFunction1_h.z *
11879 dx_hand_model_B.sf_MATLABFunction3_b.z *
11880 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) - dx_hand_model_B.t758_re *
11881 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -
11882 dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.sf_MATLABFunction3_b.z *
11883 15184.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
11884 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +
11885 dx_hand_model_B.tmp_tmp_gg * 15184.0F) - dx_hand_model_B.tmp_tmp_g4k *
11886 9052.0F) - dx_hand_model_B.t1261 * dx_hand_model_B.sf_MATLABFunction3_b.z *
11887 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) + dx_hand_model_B.t749 *
11888 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) + dx_hand_model_B.t32_p *
11889 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -
11890 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *
11891 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) - dx_hand_model_B.Sum_nf *
11892 dx_hand_model_B.sf_MATLABFunction1_h.z *
11893 dx_hand_model_B.sf_MATLABFunction3_b.z *
11894 dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) - dx_hand_model_B.t1328 *
11895 dx_hand_model_B.sf_MATLABFunction3_b.z *
11896 dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) -
11897 dx_hand_model_B.tmp_tmp_nq * 6132.0F) + dx_hand_model_B.tmp_tmp_o30 *
11898 6132.0F) + dx_hand_model_B.tmp_tmp_b * 6132.0F) - dx_hand_model_B.tmp_tmp_hz
11899 * 6132.0F) - dx_hand_model_B.xD1_tmp *
11900 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11901 dx_hand_model_B.xD1_tmp_i *
11902 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11903 dx_hand_model_B.tmp_tmp_pw * 6132.0F) +
11904 dx_hand_model_B.xD1_tmp_tmp_m *
11905 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11906 dx_hand_model_B.tmp_tmp_pi * 6132.0F) -
11907 dx_hand_model_B.xD1_tmp_p *
11908 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11909 dx_hand_model_B.tmp_tmp_lm5 * 6132.0F) + dx_hand_model_B.t20_c *
11910 6132.0F) + dx_hand_model_B.xD1_tmp_f *
11911 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11912 dx_hand_model_B.xD1_tmp_tmp_o *
11913 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11914 dx_hand_model_B.JTcomp_idx_3_tmp_a *
11915 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11916 dx_hand_model_B.JTcomp_idx_3_tmp_k *
11917 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) -
11918 dx_hand_model_B.tmp_tmp_he * 6132.0F) -
11919 dx_hand_model_B.JTcomp_idx_3_tmp_p *
11920 dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +
11921 dx_hand_model_B.t739 * dx_hand_model_B.sf_MATLABFunction2_g.z *
11922 21316.0F) - dx_hand_model_B.t750 *
11923 dx_hand_model_B.sf_MATLABFunction2_g.z * 9052.0F) + dx_hand_model_B.t752
11924 * dx_hand_model_B.sf_MATLABFunction2_g.z * 9052.0F) +
11925 dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction2_g.z * 21316.0F)
11926 - dx_hand_model_B.t755 * dx_hand_model_B.sf_MATLABFunction2_g.z * 9052.0F)
11927 + dx_hand_model_B.tmp_tmp_cy * dx_hand_model_B.sf_MATLABFunction2_g.z *
11928 9052.0F;
11929 dx_hand_model_B.t749 = dx_hand_model_B.sf_MATLABFunction3_b.x *
11930 dx_hand_model_B.sf_MATLABFunction1_h.y;
11931 dx_hand_model_B.t32_p = dx_hand_model_B.sf_MATLABFunction2_g.x *
11932 dx_hand_model_B.sf_MATLABFunction1_h.y;
11933 dx_hand_model_B.t19_e = dx_hand_model_B.sf_MATLABFunction1_h.x *
11934 dx_hand_model_B.sf_MATLABFunction3_b.y;
11935 dx_hand_model_B.t25_h = 1.0F / (((((dx_hand_model_B.t19_e +
11936 dx_hand_model_B.t32_p) + dx_hand_model_B.sf_MATLABFunction3_b.x *
11937 dx_hand_model_B.sf_MATLABFunction2_g.y) - dx_hand_model_B.t749) -
11938 dx_hand_model_B.sf_MATLABFunction1_h.x *
11939 dx_hand_model_B.sf_MATLABFunction2_g.y) -
11940 dx_hand_model_B.sf_MATLABFunction2_g.x *
11941 dx_hand_model_B.sf_MATLABFunction3_b.y);
11942 dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.sf_MATLABFunction1_h.y *
11943 dx_hand_model_B.sf_MATLABFunction1_h.z;
11944 dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.sf_MATLABFunction3_b.y *
11945 dx_hand_model_B.sf_MATLABFunction1_h.z;
11946 dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.sf_MATLABFunction1_h.y *
11947 dx_hand_model_B.sf_MATLABFunction3_b.z;
11948 dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.sf_MATLABFunction2_g.y *
11949 dx_hand_model_B.sf_MATLABFunction1_h.z;
11950 dx_hand_model_B.t13_b = ((((((((((((((((((((dx_hand_model_B.t760_re * 52.0F +
11951 dx_hand_model_B.DataTypeConversion5_n *
11952 dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) +
11953 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 52.0F) +
11954 dx_hand_model_B.t4_o * dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) +
11955 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * 21.0F) +
11956 dx_hand_model_B.t1212 * dx_hand_model_B.sf_MATLABFunction2_g.y * 31.0F) +
11957 dx_hand_model_B.tmp_tmp_iv * 21.0F) + dx_hand_model_B.tmp_tmp_fnt * 52.0F) +
11958 dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.sf_MATLABFunction3_b.z * 21.0F)
11959 + dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.sf_MATLABFunction2_g.z *
11960 21.0F) + dx_hand_model_B.tmp_tmp_fz * dx_hand_model_B.sf_MATLABFunction3_b.z
11961 * 31.0F) + dx_hand_model_B.sf_MATLABFunction3_b.y *
11962 dx_hand_model_B.sf_MATLABFunction3_b.z *
11963 dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F) - dx_hand_model_B.t757_re *
11964 21.0F) - dx_hand_model_B.t1251 * 21.0F) - dx_hand_model_B.t3 *
11965 dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F) - dx_hand_model_B.t1313 *
11966 dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F) - dx_hand_model_B.t13_b *
11967 21.0F) - dx_hand_model_B.tmp_tmp_nnx * 52.0F) - dx_hand_model_B.xD1_tmp_tmp *
11968 52.0F) - dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.sf_MATLABFunction2_g.z
11969 * 21.0F) - dx_hand_model_B.tmp_tmp_kq *
11970 dx_hand_model_B.sf_MATLABFunction3_b.z * 52.0F) - dx_hand_model_B.tmp_tmp_cm
11971 * dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F;
11972 dx_hand_model_B.t1251 = dx_hand_model_B.DataTypeConversion5_n *
11973 dx_hand_model_B.t4_o;
11974 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = dx_hand_model_B.t3 *
11975 dx_hand_model_B.t1313;
11976 dx_hand_model_B.t1261 = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;
11977 dx_hand_model_B.t1212 = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;
11978 dx_hand_model_B.t1328 = dx_hand_model_B.t1254 *
11979 dx_hand_model_B.sf_MATLABFunction1_h.y;
11980 dx_hand_model_B.t739 = dx_hand_model_B.t15_g *
11981 dx_hand_model_B.sf_MATLABFunction1_h.y;
11982 dx_hand_model_B.t750 = dx_hand_model_B.t1313 * dx_hand_model_B.t9_l;
11983 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t1212 *
11984 dx_hand_model_B.sf_MATLABFunction1_h.x;
11985 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t1212 *
11986 dx_hand_model_B.sf_MATLABFunction1_h.y;
11987 dx_hand_model_B.t752 = dx_hand_model_B.t4_o * dx_hand_model_B.t10_j;
11988 dx_hand_model_B.t754 = dx_hand_model_B.JTcomp_idx_3_tmp_c *
11989 dx_hand_model_B.sf_MATLABFunction1_h.z;
11990 dx_hand_model_B.t755 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
11991 dx_hand_model_B.sf_MATLABFunction1_h.z;
11992 dx_hand_model_B.t761_re = dx_hand_model_B.t759_re *
11993 dx_hand_model_B.sf_MATLABFunction1_h.z;
11994 dx_hand_model_B.t757_re = dx_hand_model_B.t758_re *
11995 dx_hand_model_B.sf_MATLABFunction1_h.z;
11996 dx_hand_model_B.t760_re = dx_hand_model_B.JTcomp_idx_3_tmp_c *
11997 dx_hand_model_B.sf_MATLABFunction1_h.y;
11998 dx_hand_model_B.t758_re = dx_hand_model_B.JTcomp_idx_3_tmp_i *
11999 dx_hand_model_B.sf_MATLABFunction1_h.y;
12000 dx_hand_model_B.t759_re = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
12001 dx_hand_model_B.sf_MATLABFunction1_h.y;
12002 dx_hand_model_B.t762_re = dx_hand_model_B.t1253 *
12003 dx_hand_model_B.sf_MATLABFunction1_h.y;
12004 dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t1313 * dx_hand_model_B.t10_j;
12005 dx_hand_model_B.t476.re = 1.0F / (dx_hand_model_B.t16_e *
12006 dx_hand_model_B.t16_e) * (dx_hand_model_B.t17_f * dx_hand_model_B.t17_f) *
12007 0.25F -
12008 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
12009 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
12010 (((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n *
12011 dx_hand_model_B.t12_o * 2704.0F + dx_hand_model_B.t3 * dx_hand_model_B.t11_e
12012 * 441.0F) + dx_hand_model_B.t8_h * dx_hand_model_B.t11_e * 441.0F) +
12013 dx_hand_model_B.t8_h * dx_hand_model_B.t12_o * 2704.0F) +
12014 dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o * 2704.0F) +
12015 dx_hand_model_B.t9_l * dx_hand_model_B.t11_e * 441.0F) + dx_hand_model_B.t7 *
12016 dx_hand_model_B.t11_e * 441.0F) + dx_hand_model_B.t7 * dx_hand_model_B.t12_o
12017 * 2704.0F) + dx_hand_model_B.xD1_tmp_tmp_c * 1.0913792E+7F) +
12018 dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 1.0913792E+7F) +
12019 dx_hand_model_B.JTcomp_idx_3_tmp * 1.0913792E+7F) +
12020 dx_hand_model_B.JTcomp_idx_3_tmp_f * 1.0913792E+7F) +
12021 dx_hand_model_B.JTcomp_idx_3_tmp_h * 1.0913792E+7F) +
12022 dx_hand_model_B.JTcomp_idx_3_tmp_m * 1.0913792E+7F) +
12023 dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction3_b.z
12024 * 2184.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *
12025 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +
12026 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
12027 dx_hand_model_B.sf_MATLABFunction3_b.z * 1302.0F) +
12028 dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.sf_MATLABFunction3_b.z *
12029 2184.0F) + dx_hand_model_B.tmp_tmp_bf *
12030 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +
12031 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.sf_MATLABFunction3_b.z *
12032 1302.0F) + dx_hand_model_B.t1251 * dx_hand_model_B.t9_l * 441.0F) +
12033 dx_hand_model_B.t27_m * dx_hand_model_B.Sum_nf * 441.0F) +
12034 dx_hand_model_B.t1251 * dx_hand_model_B.t7 * 441.0F) + dx_hand_model_B.t1261
12035 * dx_hand_model_B.t8_h * 441.0F) + dx_hand_model_B.t1309 *
12036 dx_hand_model_B.t9_l * 2704.0F) +
12037 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.Sum_nf *
12038 2704.0F) + dx_hand_model_B.t1309 * dx_hand_model_B.t7 * 2704.0F) +
12039 dx_hand_model_B.t27_m * dx_hand_model_B.t7 * 441.0F) + dx_hand_model_B.t1226
12040 * dx_hand_model_B.t8_h * 2704.0F) + dx_hand_model_B.t28_h *
12041 dx_hand_model_B.t9_l * 441.0F) +
12042 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t7 *
12043 2704.0F) + dx_hand_model_B.t14_a * dx_hand_model_B.t9_l * 2704.0F) +
12044 dx_hand_model_B.t1251 * dx_hand_model_B.t1313 * 441.0F) +
12045 dx_hand_model_B.t1251 * dx_hand_model_B.t10_j * 441.0F) +
12046 dx_hand_model_B.t27_m * dx_hand_model_B.t1313 * 2704.0F) +
12047 dx_hand_model_B.t1309 * dx_hand_model_B.t10_j * 2704.0F) +
12048 dx_hand_model_B.t27_m * dx_hand_model_B.t10_j * 441.0F) +
12049 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t10_j *
12050 2704.0F) + dx_hand_model_B.t1212 * dx_hand_model_B.Sum_nf * 441.0F) +
12051 dx_hand_model_B.t1261 * dx_hand_model_B.t10_j * 441.0F) +
12052 dx_hand_model_B.t1212 * dx_hand_model_B.t9_l * 2704.0F) +
12053 dx_hand_model_B.t1226 * dx_hand_model_B.t10_j * 2704.0F) +
12054 dx_hand_model_B.t1248 * dx_hand_model_B.t10_j * 441.0F) +
12055 dx_hand_model_B.t750 * dx_hand_model_B.t10_j * 2704.0F) +
12056 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
12057 dx_hand_model_B.sf_MATLABFunction2_g.x * 3486.0F) +
12058 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.sf_MATLABFunction3_b.z *
12059 2184.0F) + dx_hand_model_B.tmp_tmp_a0x *
12060 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +
12061 dx_hand_model_B.tmp_tmp_jkx * dx_hand_model_B.sf_MATLABFunction3_b.z *
12062 2184.0F) + dx_hand_model_B.tmp_tmp_kbp *
12063 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +
12064 dx_hand_model_B.tmp_tmp_hj5 * dx_hand_model_B.sf_MATLABFunction3_b.z *
12065 2184.0F) + dx_hand_model_B.tmp_tmp_d1 *
12066 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +
12067 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.sf_MATLABFunction2_g.y *
12068 3486.0F) + dx_hand_model_B.tmp_tmp_j1 *
12069 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +
12070 dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F)
12071 + dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.sf_MATLABFunction3_b.z *
12072 2184.0F) + dx_hand_model_B.tmp_tmp_fx *
12073 dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) + dx_hand_model_B.xD1_tmp *
12074 1.0913792E+7F) + dx_hand_model_B.xD1_tmp_p * 1.0913792E+7F) +
12075 dx_hand_model_B.JTcomp_idx_3_tmp_p * 1.0913792E+7F) + dx_hand_model_B.t754 *
12076 dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) +
12077 dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.sf_MATLABFunction3_b.z *
12078 1040.0F) + dx_hand_model_B.t755 * dx_hand_model_B.sf_MATLABFunction3_b.z *
12079 882.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
12080 dx_hand_model_B.sf_MATLABFunction3_b.z *
12081 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +
12082 dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.sf_MATLABFunction3_b.z *
12083 5408.0F) + dx_hand_model_B.tmp_tmp_k *
12084 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +
12085 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)
12086 + dx_hand_model_B.t761_re * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)
12087 + dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.sf_MATLABFunction3_b.z *
12088 1040.0F) + dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction3_b.z *
12089 882.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
12090 dx_hand_model_B.sf_MATLABFunction3_b.z *
12091 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +
12092 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.sf_MATLABFunction3_b.z *
12093 5408.0F) + dx_hand_model_B.tmp_tmp_cq *
12094 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +
12095 dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)
12096 + dx_hand_model_B.t760_re * dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F)
12097 + dx_hand_model_B.t758_re * dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F)
12098 + dx_hand_model_B.t759_re * dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F)
12099 + dx_hand_model_B.JTcomp_idx_3_tmp_c *
12100 dx_hand_model_B.sf_MATLABFunction3_b.y *
12101 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) + dx_hand_model_B.t762_re *
12102 dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) + dx_hand_model_B.t1328 *
12103 dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) +
12104 dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.sf_MATLABFunction3_b.y *
12105 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) + dx_hand_model_B.t1328 *
12106 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) +
12107 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
12108 dx_hand_model_B.sf_MATLABFunction3_b.y *
12109 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) + dx_hand_model_B.t739 *
12110 dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) + dx_hand_model_B.t1253 *
12111 dx_hand_model_B.sf_MATLABFunction3_b.y *
12112 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) + dx_hand_model_B.t739 *
12113 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) +
12114 dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.sf_MATLABFunction2_g.z *
12115 9776.0F) + dx_hand_model_B.tmp_tmp_mx *
12116 dx_hand_model_B.sf_MATLABFunction2_g.z * 5250.0F) +
12117 dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.sf_MATLABFunction2_g.z *
12118 1040.0F) + dx_hand_model_B.tmp_tmp_pr *
12119 dx_hand_model_B.sf_MATLABFunction2_g.z * 3486.0F) +
12120 dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.sf_MATLABFunction2_g.z * 9776.0F)
12121 + dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.sf_MATLABFunction2_g.z *
12122 5250.0F) + dx_hand_model_B.tmp_tmp_gg *
12123 dx_hand_model_B.sf_MATLABFunction2_g.z * 1040.0F) +
12124 dx_hand_model_B.tmp_tmp_g4k * dx_hand_model_B.sf_MATLABFunction2_g.z *
12125 3486.0F) + dx_hand_model_B.tmp_tmp_o30 *
12126 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) +
12127 dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F)
12128 + dx_hand_model_B.tmp_tmp_pw * dx_hand_model_B.sf_MATLABFunction3_b.z *
12129 4368.0F) + dx_hand_model_B.tmp_tmp_pi *
12130 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) +
12131 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.sf_MATLABFunction3_b.z *
12132 4368.0F) + dx_hand_model_B.t20_c * dx_hand_model_B.sf_MATLABFunction3_b.z *
12133 4368.0F) - dx_hand_model_B.t1255 * 5.456896E+6F) - dx_hand_model_B.t1312 *
12134 5.456896E+6F) - dx_hand_model_B.xD1_tmp_o * 5.456896E+6F) -
12135 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * 5.456896E+6F) -
12136 dx_hand_model_B.xD1_tmp_tmp_k * 5.456896E+6F) -
12137 dx_hand_model_B.xD1_tmp_tmp_i * 5.456896E+6F) - dx_hand_model_B.t12_o *
12138 dx_hand_model_B.sf_MATLABFunction1_h.x *
12139 dx_hand_model_B.sf_MATLABFunction2_g.x * 5408.0F) - dx_hand_model_B.t11_e *
12140 dx_hand_model_B.sf_MATLABFunction3_b.x *
12141 dx_hand_model_B.sf_MATLABFunction2_g.x * 882.0F) - dx_hand_model_B.t12_o *
12142 dx_hand_model_B.sf_MATLABFunction1_h.y *
12143 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) - dx_hand_model_B.t11_e *
12144 dx_hand_model_B.sf_MATLABFunction3_b.y *
12145 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) -
12146 dx_hand_model_B.tmp_tmp_cqr * dx_hand_model_B.sf_MATLABFunction2_g.z *
12147 5408.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_j *
12148 dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) -
12149 dx_hand_model_B.tmp_tmp_jc * dx_hand_model_B.sf_MATLABFunction3_b.z *
12150 3224.0F) - dx_hand_model_B.tmp_tmp_gd *
12151 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -
12152 dx_hand_model_B.tmp_tmp_bf * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)
12153 - dx_hand_model_B.tmp_tmp_ft * dx_hand_model_B.sf_MATLABFunction3_b.z *
12154 3224.0F) - dx_hand_model_B.t1212 * dx_hand_model_B.t8_h * 1223.0F) -
12155 dx_hand_model_B.t1212 * dx_hand_model_B.t7 * 1223.0F) -
12156 dx_hand_model_B.t1250 * dx_hand_model_B.sf_MATLABFunction1_h.x *
12157 dx_hand_model_B.sf_MATLABFunction3_b.x * 882.0F) - dx_hand_model_B.t1248 *
12158 dx_hand_model_B.sf_MATLABFunction1_h.x *
12159 dx_hand_model_B.sf_MATLABFunction2_g.x * 882.0F) - dx_hand_model_B.t1261 *
12160 dx_hand_model_B.sf_MATLABFunction3_b.x *
12161 dx_hand_model_B.sf_MATLABFunction2_g.x * 882.0F) - dx_hand_model_B.t1252 *
12162 dx_hand_model_B.sf_MATLABFunction1_h.x *
12163 dx_hand_model_B.sf_MATLABFunction3_b.x * 5408.0F) - dx_hand_model_B.t750 *
12164 dx_hand_model_B.sf_MATLABFunction1_h.x *
12165 dx_hand_model_B.sf_MATLABFunction2_g.x * 5408.0F) - dx_hand_model_B.t1226 *
12166 dx_hand_model_B.sf_MATLABFunction3_b.x *
12167 dx_hand_model_B.sf_MATLABFunction2_g.x * 5408.0F) -
12168 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
12169 dx_hand_model_B.sf_MATLABFunction3_b.x * 4368.0F) - dx_hand_model_B.t752 *
12170 dx_hand_model_B.sf_MATLABFunction1_h.x *
12171 dx_hand_model_B.sf_MATLABFunction3_b.x * 882.0F) - dx_hand_model_B.t1251 *
12172 dx_hand_model_B.sf_MATLABFunction3_b.y *
12173 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) - dx_hand_model_B.t27_m *
12174 dx_hand_model_B.sf_MATLABFunction1_h.y *
12175 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) - dx_hand_model_B.t28_h *
12176 dx_hand_model_B.sf_MATLABFunction1_h.y *
12177 dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) -
12178 dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.sf_MATLABFunction1_h.x *
12179 dx_hand_model_B.sf_MATLABFunction3_b.x * 5408.0F) - dx_hand_model_B.t1212 *
12180 dx_hand_model_B.sf_MATLABFunction3_b.x *
12181 dx_hand_model_B.sf_MATLABFunction2_g.x * 1040.0F) - dx_hand_model_B.t1309 *
12182 dx_hand_model_B.sf_MATLABFunction3_b.y *
12183 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) -
12184 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
12185 dx_hand_model_B.sf_MATLABFunction1_h.y *
12186 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) - dx_hand_model_B.t14_a *
12187 dx_hand_model_B.sf_MATLABFunction1_h.y *
12188 dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) -
12189 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.sf_MATLABFunction3_b.y *
12190 4368.0F) - dx_hand_model_B.t752 * dx_hand_model_B.sf_MATLABFunction1_h.y *
12191 dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) -
12192 dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction2_g.z
12193 * 4368.0F) - dx_hand_model_B.t1251 * dx_hand_model_B.sf_MATLABFunction3_b.z *
12194 dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) -
12195 dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.sf_MATLABFunction1_h.y *
12196 dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) - dx_hand_model_B.t1212 *
12197 dx_hand_model_B.sf_MATLABFunction3_b.y *
12198 dx_hand_model_B.sf_MATLABFunction2_g.y * 1040.0F) -
12199 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
12200 dx_hand_model_B.sf_MATLABFunction1_h.z *
12201 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -
12202 dx_hand_model_B.tmp_tmp_kg * dx_hand_model_B.sf_MATLABFunction2_g.z *
12203 4368.0F) - dx_hand_model_B.tmp_tmp_dn *
12204 dx_hand_model_B.sf_MATLABFunction2_g.z * 4368.0F) - dx_hand_model_B.t1261 *
12205 dx_hand_model_B.sf_MATLABFunction3_b.z *
12206 dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) - dx_hand_model_B.t750 *
12207 dx_hand_model_B.sf_MATLABFunction1_h.z *
12208 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -
12209 dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.sf_MATLABFunction2_g.z *
12210 4368.0F) - dx_hand_model_B.xD1_tmp_i * 1.0913792E+7F) -
12211 dx_hand_model_B.xD1_tmp_tmp_m * 1.0913792E+7F) - dx_hand_model_B.xD1_tmp_f *
12212 1.0913792E+7F) - dx_hand_model_B.xD1_tmp_tmp_o * 1.0913792E+7F) -
12213 dx_hand_model_B.JTcomp_idx_3_tmp_a * 1.0913792E+7F) -
12214 dx_hand_model_B.JTcomp_idx_3_tmp_k * 1.0913792E+7F) -
12215 dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.sf_MATLABFunction3_b.z *
12216 5408.0F) - dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction3_b.z *
12217 882.0F) - dx_hand_model_B.t755 * dx_hand_model_B.sf_MATLABFunction2_g.z *
12218 882.0F) - dx_hand_model_B.tmp_tmp_n3 *
12219 dx_hand_model_B.sf_MATLABFunction3_b.z * 3486.0F) - dx_hand_model_B.t15_g *
12220 dx_hand_model_B.sf_MATLABFunction3_b.z *
12221 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -
12222 dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.sf_MATLABFunction3_b.z * 5408.0F)
12223 - dx_hand_model_B.t761_re * dx_hand_model_B.sf_MATLABFunction3_b.z * 882.0F)
12224 - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)
12225 - dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.sf_MATLABFunction3_b.z *
12226 3486.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *
12227 dx_hand_model_B.sf_MATLABFunction3_b.z *
12228 dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) - dx_hand_model_B.t760_re *
12229 dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) - dx_hand_model_B.t758_re *
12230 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) - dx_hand_model_B.t759_re *
12231 dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) -
12232 dx_hand_model_B.t762_re *
12233 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) -
12234 dx_hand_model_B.t1254 *
12235 dx_hand_model_B.sf_MATLABFunction3_b.y *
12236 dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) -
12237 dx_hand_model_B.t15_g *
12238 dx_hand_model_B.sf_MATLABFunction3_b.y *
12239 dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) -
12240 dx_hand_model_B.tmp_tmp_dy *
12241 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12242 dx_hand_model_B.tmp_tmp_f2 *
12243 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12244 dx_hand_model_B.tmp_tmp_bs *
12245 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12246 dx_hand_model_B.tmp_tmp_al *
12247 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12248 dx_hand_model_B.tmp_tmp_hc *
12249 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12250 dx_hand_model_B.tmp_tmp_jkf *
12251 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12252 dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.sf_MATLABFunction3_b.z
12253 * 4368.0F) - dx_hand_model_B.tmp_tmp_pm *
12254 dx_hand_model_B.sf_MATLABFunction2_g.z * 1040.0F) -
12255 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.sf_MATLABFunction2_g.z *
12256 3486.0F) - dx_hand_model_B.tmp_tmp_kuk *
12257 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12258 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.sf_MATLABFunction2_g.z *
12259 1040.0F) - dx_hand_model_B.tmp_tmp_mi *
12260 dx_hand_model_B.sf_MATLABFunction2_g.z * 3486.0F) -
12261 dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.sf_MATLABFunction3_b.z *
12262 4368.0F) - dx_hand_model_B.tmp_tmp_hz *
12263 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -
12264 dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.sf_MATLABFunction3_b.z *
12265 4368.0F) * (1.0F / dx_hand_model_B.t16_e);
12266 dx_hand_model_B.t476.im = 0.0F;
12267 dx_hand_model_sqrt_e(&dx_hand_model_B.t476);
12268 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.sf_MATLABFunction1_h.z
12269 * 0.287671238F + dx_hand_model_B.sf_MATLABFunction3_b.z * 0.712328792F;
12270 dx_hand_model_B.t756.re = dx_hand_model_B.DataTypeConversion5_n +
12271 dx_hand_model_B.t476.re;
12272 dx_hand_model_B.t7 = dx_hand_model_B.sf_MATLABFunction1_h.x *
12273 dx_hand_model_B.sf_MATLABFunction1_h.y;
12274 dx_hand_model_B.t12_o = dx_hand_model_B.sf_MATLABFunction1_h.x *
12275 dx_hand_model_B.sf_MATLABFunction1_h.z;
12276 dx_hand_model_B.t3 = dx_hand_model_B.sf_MATLABFunction3_b.x *
12277 dx_hand_model_B.sf_MATLABFunction1_h.z;
12278 dx_hand_model_B.t1212 = dx_hand_model_B.sf_MATLABFunction1_h.x *
12279 dx_hand_model_B.sf_MATLABFunction3_b.z;
12280 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.sf_MATLABFunction2_g.x *
12281 dx_hand_model_B.sf_MATLABFunction1_h.z;
12282 dx_hand_model_B.t1313 =
12283 (((((((((((((((((((((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * 52.0F
12284 + dx_hand_model_B.Sum_nf * dx_hand_model_B.sf_MATLABFunction2_g.x * 21.0F) +
12285 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f * 52.0F) +
12286 dx_hand_model_B.t4_o *
12287 dx_hand_model_B.sf_MATLABFunction2_g.x * 21.0F) +
12288 dx_hand_model_B.t7 *
12289 dx_hand_model_B.sf_MATLABFunction3_b.y * 21.0F) +
12290 dx_hand_model_B.t749 *
12291 dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) +
12292 dx_hand_model_B.t32_p *
12293 dx_hand_model_B.sf_MATLABFunction3_b.y * 31.0F) +
12294 dx_hand_model_B.sf_MATLABFunction3_b.x *
12295 dx_hand_model_B.sf_MATLABFunction3_b.y *
12296 dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F) +
12297 dx_hand_model_B.t12_o * dx_hand_model_B.sf_MATLABFunction3_b.z
12298 * 21.0F) + dx_hand_model_B.t3 *
12299 dx_hand_model_B.sf_MATLABFunction2_g.z * 21.0F) +
12300 dx_hand_model_B.xD1_tmp_tmp *
12301 dx_hand_model_B.sf_MATLABFunction3_b.z * 31.0F) +
12302 dx_hand_model_B.sf_MATLABFunction3_b.x *
12303 dx_hand_model_B.sf_MATLABFunction3_b.z *
12304 dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F) -
12305 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m * 21.0F) -
12306 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a * 21.0F) -
12307 dx_hand_model_B.t1313 * dx_hand_model_B.sf_MATLABFunction2_g.x *
12308 52.0F) - dx_hand_model_B.t9_l *
12309 dx_hand_model_B.sf_MATLABFunction2_g.x * 52.0F) - dx_hand_model_B.t7 *
12310 dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) - dx_hand_model_B.t749
12311 * dx_hand_model_B.sf_MATLABFunction3_b.y * 52.0F) -
12312 dx_hand_model_B.t19_e * dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F)
12313 - dx_hand_model_B.t12_o * dx_hand_model_B.sf_MATLABFunction2_g.z * 21.0F)
12314 - dx_hand_model_B.t3 * dx_hand_model_B.sf_MATLABFunction3_b.z * 52.0F) -
12315 dx_hand_model_B.t1212 * dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F) *
12316 dx_hand_model_B.t25_h * 0.01369863F;
12317 dx_hand_model_B.t476.re = dx_hand_model_B.DataTypeConversion5_n -
12318 dx_hand_model_B.t476.re;
12319 dx_hand_model_B.DataTypeConversion5_n = ((((dx_hand_model_B.t1212 +
12320 dx_hand_model_B.xD1_tmp_tmp) + dx_hand_model_B.sf_MATLABFunction3_b.x *
12321 dx_hand_model_B.sf_MATLABFunction2_g.z) - dx_hand_model_B.t3) -
12322 dx_hand_model_B.sf_MATLABFunction1_h.x *
12323 dx_hand_model_B.sf_MATLABFunction2_g.z) -
12324 dx_hand_model_B.sf_MATLABFunction2_g.x *
12325 dx_hand_model_B.sf_MATLABFunction3_b.z;
12326 dx_hand_model_B.Sum_nf = dx_hand_model_B.t1313 - dx_hand_model_B.t25_h *
12327 dx_hand_model_B.t756.re * dx_hand_model_B.DataTypeConversion5_n;
12328 dx_hand_model_B.t1313 -= dx_hand_model_B.t25_h * dx_hand_model_B.t476.re *
12329 dx_hand_model_B.DataTypeConversion5_n;
12330
12331 /* MATLAB Function: '<S242>/MATLAB Function9' incorporates:
12332 * ComplexToRealImag: '<S242>/Complex to Real-Imag1'
12333 * MATLAB Function: '<S242>/MATLAB Function'
12334 */
12335 if (dx_hand_model_B.t756.re < dx_hand_model_B.t476.re) {
12336 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t25_h *
12337 dx_hand_model_B.t13_b * -0.01369863F + dx_hand_model_B.t25_h *
12338 (((((dx_hand_model_B.tmp_tmp_cm + dx_hand_model_B.tmp_tmp_fz) +
12339 dx_hand_model_B.sf_MATLABFunction3_b.y *
12340 dx_hand_model_B.sf_MATLABFunction2_g.z) - dx_hand_model_B.tmp_tmp_kq)
12341 - dx_hand_model_B.sf_MATLABFunction1_h.y *
12342 dx_hand_model_B.sf_MATLABFunction2_g.z) -
12343 dx_hand_model_B.sf_MATLABFunction2_g.y *
12344 dx_hand_model_B.sf_MATLABFunction3_b.z) * dx_hand_model_B.t756.re;
12345 dx_hand_model_B.t1313 = dx_hand_model_B.Sum_nf;
12346 dx_hand_model_B.Sum_nf = dx_hand_model_B.t756.re;
12347 } else {
12348 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t25_h *
12349 dx_hand_model_B.t13_b * -0.01369863F + dx_hand_model_B.t25_h *
12350 (((((dx_hand_model_B.tmp_tmp_cm + dx_hand_model_B.tmp_tmp_fz) +
12351 dx_hand_model_B.sf_MATLABFunction3_b.y *
12352 dx_hand_model_B.sf_MATLABFunction2_g.z) - dx_hand_model_B.tmp_tmp_kq)
12353 - dx_hand_model_B.sf_MATLABFunction1_h.y *
12354 dx_hand_model_B.sf_MATLABFunction2_g.z) -
12355 dx_hand_model_B.sf_MATLABFunction2_g.y *
12356 dx_hand_model_B.sf_MATLABFunction3_b.z) * dx_hand_model_B.t476.re;
12357 dx_hand_model_B.Sum_nf = dx_hand_model_B.t476.re;
12358 }
12359
12360 /* End of MATLAB Function: '<S242>/MATLAB Function9' */
12361
12362 /* ComplexToRealImag: '<S227>/Complex to Real-Imag9' */
12363 dx_hand_model_B.ComplextoRealImag1_d[0] =
12364 dx_hand_model_B.DataTypeConversion5_n;
12365 dx_hand_model_B.ComplextoRealImag1_d[1] = dx_hand_model_B.t1313;
12366 dx_hand_model_B.ComplextoRealImag1_d[2] = dx_hand_model_B.Sum_nf;
12367
12368 /* MATLAB Function: '<S233>/MATLAB Function1' */
12369 dx_hand_mod_MATLABFunction3(dx_hand_model_B.ComplextoRealImag1_d,
12370 &dx_hand_model_B.sf_MATLABFunction1_p);
12371
12372 /* MATLAB Function: '<S233>/MATLAB Function2' */
12373 dx_hand_mod_MATLABFunction1(dx_hand_model_B.MCP,
12374 &dx_hand_model_B.sf_MATLABFunction2_f);
12375
12376 /* MATLAB Function: '<S233>/Mother of Kinematics' incorporates:
12377 * ComplexToRealImag: '<S231>/Complex to Real-Imag1'
12378 * ComplexToRealImag: '<S231>/Complex to Real-Imag5'
12379 * DataTypeConversion: '<S233>/Data Type Conversion1'
12380 * DataTypeConversion: '<S233>/Data Type Conversion10'
12381 * DataTypeConversion: '<S233>/Data Type Conversion11'
12382 * DataTypeConversion: '<S233>/Data Type Conversion12'
12383 * DataTypeConversion: '<S233>/Data Type Conversion13'
12384 * DataTypeConversion: '<S233>/Data Type Conversion14'
12385 * DataTypeConversion: '<S233>/Data Type Conversion15'
12386 * DataTypeConversion: '<S233>/Data Type Conversion16'
12387 * DataTypeConversion: '<S233>/Data Type Conversion17'
12388 * DataTypeConversion: '<S233>/Data Type Conversion18'
12389 * DataTypeConversion: '<S233>/Data Type Conversion19'
12390 * DataTypeConversion: '<S233>/Data Type Conversion3'
12391 * DataTypeConversion: '<S233>/Data Type Conversion4'
12392 * DataTypeConversion: '<S233>/Data Type Conversion5'
12393 * DataTypeConversion: '<S233>/Data Type Conversion7'
12394 * DataTypeConversion: '<S233>/Data Type Conversion8'
12395 * DataTypeConversion: '<S233>/Data Type Conversion9'
12396 * DataTypeConversion: '<S283>/Data Type Conversion1'
12397 * DataTypeConversion: '<S285>/Data Type Conversion1'
12398 * MATLAB Function: '<S233>/APPROSSIMAZIONE'
12399 * MATLAB Function: '<S233>/MATLAB Function'
12400 */
12401 dx_hand_model_B.Switch = sin((real_T)dx_hand_model_B.Sum1_h);
12402 dx_hand_model_B.t3_tmp = sin((real_T)(0.785398185F - (-dx_hand_model_B.Sum1_h)));
12403 dx_hand_model_B.t4 = cos((real_T)dx_hand_model_B.Sum_a);
12404 dx_hand_model_B.t5 = cos((real_T)dx_hand_model_B.Sum1_h);
12405 dx_hand_model_B.t6 = sin((real_T)dx_hand_model_B.Sum_a);
12406 dx_hand_model_B.t7_tmp = cos((real_T)(0.785398185F - (-dx_hand_model_B.Sum1_h)));
12407 dx_hand_model_B.t94 = (real_T)dx_hand_model_B.sf_MATLABFunction4_o.x *
12408 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12409 dx_hand_model_B.t8 = dx_hand_model_B.t94 *
12410 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12411 dx_hand_model_B.t100 = (real_T)dx_hand_model_B.sf_MATLABFunction3_bs.x *
12412 dx_hand_model_B.sf_MATLABFunction1_p.y;
12413 dx_hand_model_B.t9 = dx_hand_model_B.t100 *
12414 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;
12415 dx_hand_model_B.t98 = (real_T)dx_hand_model_B.sf_MATLABFunction1_p.x *
12416 dx_hand_model_B.sf_MATLABFunction4_o.y;
12417 dx_hand_model_B.t10 = dx_hand_model_B.t98 *
12418 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12419 dx_hand_model_B.t97 = (real_T)dx_hand_model_B.sf_MATLABFunction4_o.x *
12420 dx_hand_model_B.sf_MATLABFunction2_f.y;
12421 dx_hand_model_B.t11 = dx_hand_model_B.t97 *
12422 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12423 dx_hand_model_B.t92 = (real_T)dx_hand_model_B.sf_MATLABFunction3_bs.x *
12424 dx_hand_model_B.sf_MATLABFunction4_o.y;
12425 dx_hand_model_B.t12 = dx_hand_model_B.t92 *
12426 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12427 dx_hand_model_B.t102 = (real_T)dx_hand_model_B.sf_MATLABFunction2_f.x *
12428 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12429 dx_hand_model_B.t13 = dx_hand_model_B.t102 *
12430 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;
12431 dx_hand_model_B.t91 = (real_T)dx_hand_model_B.sf_MATLABFunction4_o.x *
12432 dx_hand_model_B.sf_MATLABFunction1_p.y;
12433 dx_hand_model_B.t14 = dx_hand_model_B.t91 *
12434 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12435 dx_hand_model_B.t101 = (real_T)dx_hand_model_B.sf_MATLABFunction1_p.x *
12436 dx_hand_model_B.sf_MATLABFunction2_f.y;
12437 dx_hand_model_B.t15 = dx_hand_model_B.t101 *
12438 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;
12439 dx_hand_model_B.t96 = (real_T)dx_hand_model_B.sf_MATLABFunction2_f.x *
12440 dx_hand_model_B.sf_MATLABFunction4_o.y;
12441 dx_hand_model_B.t16 = dx_hand_model_B.t96 *
12442 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12443 dx_hand_model_B.t95 = (real_T)dx_hand_model_B.sf_MATLABFunction3_bs.x *
12444 dx_hand_model_B.sf_MATLABFunction2_f.y;
12445 dx_hand_model_B.t17 = dx_hand_model_B.t95 *
12446 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12447 dx_hand_model_B.t93 = (real_T)dx_hand_model_B.sf_MATLABFunction1_p.x *
12448 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12449 dx_hand_model_B.t18 = dx_hand_model_B.t93 *
12450 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12451 dx_hand_model_B.t99 = (real_T)dx_hand_model_B.sf_MATLABFunction2_f.x *
12452 dx_hand_model_B.sf_MATLABFunction1_p.y;
12453 dx_hand_model_B.t19 = dx_hand_model_B.t99 *
12454 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12455 dx_hand_model_B.t20_tmp = (real32_T)dx_hand_model_B.RateTransition_nz *
12456 dx_hand_model_B.Switch;
12457 dx_hand_model_B.t105 = dx_hand_model_B.t20_tmp *
12458 dx_hand_model_B.sf_MATLABFunction1_p.x;
12459 dx_hand_model_B.t20 = dx_hand_model_B.t105 *
12460 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;
12461 dx_hand_model_B.t103 = dx_hand_model_B.t20_tmp *
12462 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12463 dx_hand_model_B.t21 = dx_hand_model_B.t103 *
12464 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;
12465 dx_hand_model_B.t104 = dx_hand_model_B.t20_tmp *
12466 dx_hand_model_B.sf_MATLABFunction2_f.x;
12467 dx_hand_model_B.t22 = dx_hand_model_B.t104 *
12468 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;
12469 dx_hand_model_B.t23_tmp = (real32_T)dx_hand_model_B.RateTransition_nz *
12470 dx_hand_model_B.t4 * dx_hand_model_B.t5;
12471 dx_hand_model_B.t111 = dx_hand_model_B.t23_tmp *
12472 dx_hand_model_B.sf_MATLABFunction1_p.y;
12473 dx_hand_model_B.t23 = dx_hand_model_B.t111 *
12474 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12475 dx_hand_model_B.t109 = dx_hand_model_B.t23_tmp *
12476 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12477 dx_hand_model_B.t24 = dx_hand_model_B.t109 *
12478 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12479 dx_hand_model_B.t110 = dx_hand_model_B.t23_tmp *
12480 dx_hand_model_B.sf_MATLABFunction2_f.y;
12481 dx_hand_model_B.t25 = dx_hand_model_B.t110 *
12482 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12483 dx_hand_model_B.t26_tmp = dx_hand_model_B.t20_tmp * dx_hand_model_B.t4;
12484 dx_hand_model_B.t114 = dx_hand_model_B.t26_tmp *
12485 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12486 dx_hand_model_B.t26 = dx_hand_model_B.t114 *
12487 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12488 dx_hand_model_B.t23_tmp = (real32_T)dx_hand_model_B.RateTransition_nz *
12489 dx_hand_model_B.t5 * dx_hand_model_B.t6;
12490 dx_hand_model_B.t115 = dx_hand_model_B.t23_tmp *
12491 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12492 dx_hand_model_B.t27 = dx_hand_model_B.t115 *
12493 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12494 dx_hand_model_B.t116 = dx_hand_model_B.t26_tmp *
12495 dx_hand_model_B.sf_MATLABFunction2_f.x;
12496 dx_hand_model_B.t28 = dx_hand_model_B.t116 *
12497 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12498 dx_hand_model_B.t117 = dx_hand_model_B.t23_tmp *
12499 dx_hand_model_B.sf_MATLABFunction2_f.x;
12500 dx_hand_model_B.t29 = dx_hand_model_B.t117 *
12501 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12502 dx_hand_model_B.t112 = dx_hand_model_B.t26_tmp *
12503 dx_hand_model_B.sf_MATLABFunction1_p.x;
12504 dx_hand_model_B.t30 = dx_hand_model_B.t112 *
12505 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12506 dx_hand_model_B.t113 = dx_hand_model_B.t23_tmp *
12507 dx_hand_model_B.sf_MATLABFunction1_p.x;
12508 dx_hand_model_B.t31 = dx_hand_model_B.t113 *
12509 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12510 dx_hand_model_B.t23_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *
12511 dx_hand_model_B.Switch;
12512 dx_hand_model_B.t26_tmp = dx_hand_model_B.t23_tmp * dx_hand_model_B.t7_tmp;
12513 dx_hand_model_B.t58 = dx_hand_model_B.t26_tmp *
12514 dx_hand_model_B.sf_MATLABFunction1_p.x;
12515 dx_hand_model_B.t32 = dx_hand_model_B.t58 *
12516 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;
12517 dx_hand_model_B.t54 = dx_hand_model_B.t26_tmp *
12518 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12519 dx_hand_model_B.t33 = dx_hand_model_B.t54 *
12520 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;
12521 dx_hand_model_B.t57 = dx_hand_model_B.t26_tmp *
12522 dx_hand_model_B.sf_MATLABFunction2_f.x;
12523 dx_hand_model_B.t34 = dx_hand_model_B.t57 *
12524 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;
12525 dx_hand_model_B.t20_tmp *= dx_hand_model_B.t6;
12526 dx_hand_model_B.t122 = dx_hand_model_B.t20_tmp *
12527 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12528 dx_hand_model_B.t35 = dx_hand_model_B.t122 *
12529 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12530 dx_hand_model_B.t123 = dx_hand_model_B.t20_tmp *
12531 dx_hand_model_B.sf_MATLABFunction2_f.y;
12532 dx_hand_model_B.t36 = dx_hand_model_B.t123 *
12533 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12534 dx_hand_model_B.t121 = dx_hand_model_B.t20_tmp *
12535 dx_hand_model_B.sf_MATLABFunction1_p.y;
12536 dx_hand_model_B.t37 = dx_hand_model_B.t121 *
12537 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12538 dx_hand_model_B.t26_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *
12539 dx_hand_model_B.t4;
12540 dx_hand_model_B.t20_tmp = dx_hand_model_B.t26_tmp * dx_hand_model_B.t5 *
12541 dx_hand_model_B.t7_tmp;
12542 dx_hand_model_B.t68 = dx_hand_model_B.t20_tmp *
12543 dx_hand_model_B.sf_MATLABFunction1_p.y;
12544 dx_hand_model_B.t38 = dx_hand_model_B.t68 *
12545 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12546 dx_hand_model_B.t66 = dx_hand_model_B.t20_tmp *
12547 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12548 dx_hand_model_B.t39 = dx_hand_model_B.t66 *
12549 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12550 dx_hand_model_B.t67 = dx_hand_model_B.t20_tmp *
12551 dx_hand_model_B.sf_MATLABFunction2_f.y;
12552 dx_hand_model_B.t40 = dx_hand_model_B.t67 *
12553 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12554 dx_hand_model_B.t41_tmp = dx_hand_model_B.t23_tmp * dx_hand_model_B.t4 *
12555 dx_hand_model_B.t7_tmp;
12556 dx_hand_model_B.t72 = dx_hand_model_B.t41_tmp *
12557 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12558 dx_hand_model_B.t41 = dx_hand_model_B.t72 *
12559 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12560 dx_hand_model_B.t42_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *
12561 dx_hand_model_B.t5;
12562 dx_hand_model_B.t42_tmp = dx_hand_model_B.t42_tmp_tmp * dx_hand_model_B.t6 *
12563 dx_hand_model_B.t7_tmp;
12564 dx_hand_model_B.t73 = dx_hand_model_B.t42_tmp *
12565 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12566 dx_hand_model_B.t42 = dx_hand_model_B.t73 *
12567 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12568 dx_hand_model_B.t76 = dx_hand_model_B.t41_tmp *
12569 dx_hand_model_B.sf_MATLABFunction2_f.x;
12570 dx_hand_model_B.t43 = dx_hand_model_B.t76 *
12571 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12572 dx_hand_model_B.t77 = dx_hand_model_B.t42_tmp *
12573 dx_hand_model_B.sf_MATLABFunction2_f.x;
12574 dx_hand_model_B.t44 = dx_hand_model_B.t77 *
12575 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12576 dx_hand_model_B.t70 = dx_hand_model_B.t41_tmp *
12577 dx_hand_model_B.sf_MATLABFunction1_p.x;
12578 dx_hand_model_B.t45 = dx_hand_model_B.t70 *
12579 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12580 dx_hand_model_B.t71 = dx_hand_model_B.t42_tmp *
12581 dx_hand_model_B.sf_MATLABFunction1_p.x;
12582 dx_hand_model_B.t46 = dx_hand_model_B.t71 *
12583 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12584 dx_hand_model_B.t47_tmp = dx_hand_model_B.t23_tmp * dx_hand_model_B.t6 *
12585 dx_hand_model_B.t7_tmp;
12586 dx_hand_model_B.t81 = dx_hand_model_B.t47_tmp *
12587 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12588 dx_hand_model_B.t47 = dx_hand_model_B.t81 *
12589 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12590 dx_hand_model_B.t86 = dx_hand_model_B.t47_tmp *
12591 dx_hand_model_B.sf_MATLABFunction2_f.y;
12592 dx_hand_model_B.t48 = dx_hand_model_B.t86 *
12593 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12594 dx_hand_model_B.t80 = dx_hand_model_B.t47_tmp *
12595 dx_hand_model_B.sf_MATLABFunction1_p.y;
12596 dx_hand_model_B.t49 = dx_hand_model_B.t80 *
12597 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12598 dx_hand_model_B.t50_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *
12599 dx_hand_model_B.t7_tmp;
12600 dx_hand_model_B.t50_tmp_b = dx_hand_model_B.t50_tmp *
12601 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12602 dx_hand_model_B.t50_tmp_p = dx_hand_model_B.t50_tmp *
12603 dx_hand_model_B.sf_MATLABFunction1_p.x;
12604 dx_hand_model_B.t50_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.x;
12605 dx_hand_model_B.t50_tmp_c = dx_hand_model_B.t42_tmp_tmp *
12606 dx_hand_model_B.t7_tmp;
12607 dx_hand_model_B.t50_tmp_f = dx_hand_model_B.t50_tmp_c *
12608 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12609 dx_hand_model_B.t50_tmp_g = dx_hand_model_B.t50_tmp_c *
12610 dx_hand_model_B.sf_MATLABFunction1_p.x;
12611 dx_hand_model_B.t50_tmp_c *= dx_hand_model_B.sf_MATLABFunction2_f.x;
12612 dx_hand_model_B.t50_tmp_g1 = dx_hand_model_B.t26_tmp * dx_hand_model_B.t7_tmp;
12613 dx_hand_model_B.t50_tmp_m = dx_hand_model_B.t50_tmp_g1 *
12614 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12615 dx_hand_model_B.t50_tmp_n = dx_hand_model_B.t50_tmp_g1 *
12616 dx_hand_model_B.sf_MATLABFunction1_p.x;
12617 dx_hand_model_B.t50_tmp_g1 *= dx_hand_model_B.sf_MATLABFunction2_f.x;
12618 dx_hand_model_B.t50_tmp_pp = (real32_T)dx_hand_model_B.RateTransition_kl *
12619 dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp;
12620 dx_hand_model_B.t50_tmp_l = dx_hand_model_B.t50_tmp_pp *
12621 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12622 dx_hand_model_B.t50_tmp_j = dx_hand_model_B.t50_tmp_pp *
12623 dx_hand_model_B.sf_MATLABFunction1_p.y;
12624 dx_hand_model_B.t50_tmp_pp *= dx_hand_model_B.sf_MATLABFunction2_f.y;
12625 dx_hand_model_B.t50_tmp_d = dx_hand_model_B.t23_tmp * dx_hand_model_B.t3_tmp;
12626 dx_hand_model_B.t50_tmp_gu = dx_hand_model_B.t50_tmp_d *
12627 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12628 dx_hand_model_B.t50_tmp_ld = dx_hand_model_B.t50_tmp_d *
12629 dx_hand_model_B.sf_MATLABFunction1_p.x;
12630 dx_hand_model_B.t50_tmp_dh = dx_hand_model_B.t50_tmp_d *
12631 dx_hand_model_B.sf_MATLABFunction2_f.x;
12632 dx_hand_model_B.t50_tmp_dy = dx_hand_model_B.t20_tmp *
12633 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12634 dx_hand_model_B.t50_tmp_lx = dx_hand_model_B.t20_tmp *
12635 dx_hand_model_B.sf_MATLABFunction1_p.x;
12636 dx_hand_model_B.t50_tmp_o = dx_hand_model_B.t20_tmp *
12637 dx_hand_model_B.sf_MATLABFunction2_f.x;
12638 dx_hand_model_B.t50_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *
12639 dx_hand_model_B.t3_tmp;
12640 dx_hand_model_B.t50_tmp_tmp_n = dx_hand_model_B.t50_tmp_tmp *
12641 dx_hand_model_B.t4;
12642 dx_hand_model_B.t50_tmp_bj = dx_hand_model_B.t50_tmp_tmp_n *
12643 dx_hand_model_B.t5;
12644 dx_hand_model_B.t50_tmp_nu = dx_hand_model_B.t50_tmp_bj *
12645 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12646 dx_hand_model_B.t50_tmp_bs = dx_hand_model_B.t41_tmp *
12647 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12648 dx_hand_model_B.t50_tmp_ln = dx_hand_model_B.t42_tmp *
12649 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12650 dx_hand_model_B.t26_tmp = dx_hand_model_B.t50_tmp_bj *
12651 dx_hand_model_B.sf_MATLABFunction1_p.y;
12652 dx_hand_model_B.t23_tmp = dx_hand_model_B.t41_tmp *
12653 dx_hand_model_B.sf_MATLABFunction1_p.y;
12654 dx_hand_model_B.t20_tmp = dx_hand_model_B.t42_tmp *
12655 dx_hand_model_B.sf_MATLABFunction1_p.y;
12656 dx_hand_model_B.t42_tmp_tmp = dx_hand_model_B.t50_tmp_bj *
12657 dx_hand_model_B.sf_MATLABFunction2_f.y;
12658 dx_hand_model_B.t41_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.y;
12659 dx_hand_model_B.t42_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.y;
12660 dx_hand_model_B.t50_tmp_h = dx_hand_model_B.t50_tmp_d * dx_hand_model_B.t4;
12661 dx_hand_model_B.t50_tmp_tmp_o = dx_hand_model_B.t50_tmp_tmp *
12662 dx_hand_model_B.t5;
12663 dx_hand_model_B.t50_tmp_bn = dx_hand_model_B.t50_tmp_tmp_o *
12664 dx_hand_model_B.t6;
12665 dx_hand_model_B.t50_tmp_da = dx_hand_model_B.t50_tmp_h *
12666 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12667 dx_hand_model_B.t50_tmp_e = dx_hand_model_B.t50_tmp_bn *
12668 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12669 dx_hand_model_B.t50_tmp_bjv = dx_hand_model_B.t47_tmp *
12670 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12671 dx_hand_model_B.t50_tmp_jz = dx_hand_model_B.t50_tmp_h *
12672 dx_hand_model_B.sf_MATLABFunction1_p.x;
12673 dx_hand_model_B.t50_tmp_fd = dx_hand_model_B.t50_tmp_bn *
12674 dx_hand_model_B.sf_MATLABFunction1_p.x;
12675 dx_hand_model_B.t50_tmp_a = dx_hand_model_B.t47_tmp *
12676 dx_hand_model_B.sf_MATLABFunction1_p.x;
12677 dx_hand_model_B.t50_tmp_ju = dx_hand_model_B.t50_tmp_h *
12678 dx_hand_model_B.sf_MATLABFunction2_f.x;
12679 dx_hand_model_B.t50_tmp_jz5 = dx_hand_model_B.t50_tmp_bn *
12680 dx_hand_model_B.sf_MATLABFunction2_f.x;
12681 dx_hand_model_B.t50_tmp_o4 = dx_hand_model_B.t47_tmp *
12682 dx_hand_model_B.sf_MATLABFunction2_f.x;
12683 dx_hand_model_B.t50_tmp_d *= dx_hand_model_B.t6;
12684 dx_hand_model_B.t50_tmp_ny = dx_hand_model_B.t50_tmp_d *
12685 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12686 dx_hand_model_B.t50_tmp_i = dx_hand_model_B.t50_tmp_d *
12687 dx_hand_model_B.sf_MATLABFunction1_p.y;
12688 dx_hand_model_B.t47_tmp = dx_hand_model_B.t50_tmp_d *
12689 dx_hand_model_B.sf_MATLABFunction2_f.y;
12690 dx_hand_model_B.t240 = dx_hand_model_B.t50_tmp_p *
12691 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12692 dx_hand_model_B.t241 = dx_hand_model_B.t50_tmp_b *
12693 dx_hand_model_B.sf_MATLABFunction2_f.y;
12694 dx_hand_model_B.t242 = dx_hand_model_B.t50_tmp *
12695 dx_hand_model_B.sf_MATLABFunction1_p.y;
12696 dx_hand_model_B.t243 = dx_hand_model_B.t50_tmp_f *
12697 dx_hand_model_B.sf_MATLABFunction1_p.y;
12698 dx_hand_model_B.t244 = dx_hand_model_B.t50_tmp_c *
12699 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12700 dx_hand_model_B.t245 = dx_hand_model_B.t50_tmp_g *
12701 dx_hand_model_B.sf_MATLABFunction2_f.y;
12702 dx_hand_model_B.t246 = dx_hand_model_B.t50_tmp_n *
12703 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12704 dx_hand_model_B.t247 = dx_hand_model_B.t50_tmp_m *
12705 dx_hand_model_B.sf_MATLABFunction2_f.z;
12706 dx_hand_model_B.t248 = dx_hand_model_B.t50_tmp_g1 *
12707 dx_hand_model_B.sf_MATLABFunction1_p.z;
12708 dx_hand_model_B.t249 = dx_hand_model_B.t50_tmp_j *
12709 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12710 dx_hand_model_B.t250 = dx_hand_model_B.t50_tmp_l *
12711 dx_hand_model_B.sf_MATLABFunction2_f.z;
12712 dx_hand_model_B.t251 = dx_hand_model_B.t50_tmp_pp *
12713 dx_hand_model_B.sf_MATLABFunction1_p.z;
12714 dx_hand_model_B.t252 = dx_hand_model_B.t50_tmp_ld *
12715 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12716 dx_hand_model_B.t253 = dx_hand_model_B.t50_tmp_gu *
12717 dx_hand_model_B.sf_MATLABFunction2_f.y;
12718 dx_hand_model_B.t254 = dx_hand_model_B.t50_tmp_dh *
12719 dx_hand_model_B.sf_MATLABFunction1_p.y;
12720 dx_hand_model_B.t255 = dx_hand_model_B.t50_tmp_lx *
12721 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12722 dx_hand_model_B.t256 = dx_hand_model_B.t50_tmp_dy *
12723 dx_hand_model_B.sf_MATLABFunction2_f.z;
12724 dx_hand_model_B.t257 = dx_hand_model_B.t50_tmp_o *
12725 dx_hand_model_B.sf_MATLABFunction1_p.z;
12726 dx_hand_model_B.t258 = dx_hand_model_B.t26_tmp *
12727 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12728 dx_hand_model_B.t259 = dx_hand_model_B.t23_tmp *
12729 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12730 dx_hand_model_B.t260 = dx_hand_model_B.t20_tmp *
12731 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12732 dx_hand_model_B.t261 = dx_hand_model_B.t50_tmp_nu *
12733 dx_hand_model_B.sf_MATLABFunction2_f.z;
12734 dx_hand_model_B.t262 = dx_hand_model_B.t50_tmp_bs *
12735 dx_hand_model_B.sf_MATLABFunction2_f.z;
12736 dx_hand_model_B.t263 = dx_hand_model_B.t50_tmp_ln *
12737 dx_hand_model_B.sf_MATLABFunction2_f.z;
12738 dx_hand_model_B.t264 = dx_hand_model_B.t42_tmp_tmp *
12739 dx_hand_model_B.sf_MATLABFunction1_p.z;
12740 dx_hand_model_B.t265 = dx_hand_model_B.t41_tmp *
12741 dx_hand_model_B.sf_MATLABFunction1_p.z;
12742 dx_hand_model_B.t266 = dx_hand_model_B.t42_tmp *
12743 dx_hand_model_B.sf_MATLABFunction1_p.z;
12744 dx_hand_model_B.t267 = dx_hand_model_B.t50_tmp_da *
12745 dx_hand_model_B.sf_MATLABFunction1_p.z;
12746 dx_hand_model_B.t268 = dx_hand_model_B.t50_tmp_e *
12747 dx_hand_model_B.sf_MATLABFunction1_p.z;
12748 dx_hand_model_B.t269 = dx_hand_model_B.t50_tmp_bjv *
12749 dx_hand_model_B.sf_MATLABFunction1_p.z;
12750 dx_hand_model_B.t270 = dx_hand_model_B.t50_tmp_ju *
12751 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12752 dx_hand_model_B.t271 = dx_hand_model_B.t50_tmp_jz5 *
12753 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12754 dx_hand_model_B.t272 = dx_hand_model_B.t50_tmp_o4 *
12755 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12756 dx_hand_model_B.t273 = dx_hand_model_B.t50_tmp_jz *
12757 dx_hand_model_B.sf_MATLABFunction2_f.z;
12758 dx_hand_model_B.t274 = dx_hand_model_B.t50_tmp_fd *
12759 dx_hand_model_B.sf_MATLABFunction2_f.z;
12760 dx_hand_model_B.t275 = dx_hand_model_B.t50_tmp_a *
12761 dx_hand_model_B.sf_MATLABFunction2_f.z;
12762 dx_hand_model_B.t276 = dx_hand_model_B.t50_tmp_ny *
12763 dx_hand_model_B.sf_MATLABFunction1_p.z;
12764 dx_hand_model_B.t277 = dx_hand_model_B.t47_tmp *
12765 dx_hand_model_B.sf_MATLABFunction3_bs.z;
12766 dx_hand_model_B.t278 = dx_hand_model_B.t50_tmp_i *
12767 dx_hand_model_B.sf_MATLABFunction2_f.z;
12768 dx_hand_model_B.t50_tmp_b *= dx_hand_model_B.sf_MATLABFunction1_p.y;
12769 dx_hand_model_B.t50_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.y;
12770 dx_hand_model_B.t50_tmp_p *= dx_hand_model_B.sf_MATLABFunction2_f.y;
12771 dx_hand_model_B.t50_tmp_gu *= dx_hand_model_B.sf_MATLABFunction1_p.y;
12772 dx_hand_model_B.t50_tmp_g *= dx_hand_model_B.sf_MATLABFunction3_bs.y;
12773 dx_hand_model_B.t50_tmp_dh *= dx_hand_model_B.sf_MATLABFunction3_bs.y;
12774 dx_hand_model_B.t50_tmp_ld *= dx_hand_model_B.sf_MATLABFunction2_f.y;
12775 dx_hand_model_B.t50_tmp_f *= dx_hand_model_B.sf_MATLABFunction2_f.y;
12776 dx_hand_model_B.t50_tmp_c *= dx_hand_model_B.sf_MATLABFunction1_p.y;
12777 dx_hand_model_B.t50_tmp_m *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12778 dx_hand_model_B.t50_tmp_g1 *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12779 dx_hand_model_B.t50_tmp_n *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12780 dx_hand_model_B.t50_tmp_l *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12781 dx_hand_model_B.t50_tmp_pp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12782 dx_hand_model_B.t50_tmp_j *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12783 dx_hand_model_B.t50_tmp_jz *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12784 dx_hand_model_B.t50_tmp_fd *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12785 dx_hand_model_B.t50_tmp_a *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12786 dx_hand_model_B.t50_tmp_dy *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12787 dx_hand_model_B.t50_tmp_da *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12788 dx_hand_model_B.t50_tmp_ju *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12789 dx_hand_model_B.t50_tmp_e *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12790 dx_hand_model_B.t50_tmp_bjv *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12791 dx_hand_model_B.t50_tmp_jz5 *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12792 dx_hand_model_B.t50_tmp_o4 *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12793 dx_hand_model_B.t50_tmp_o *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12794 dx_hand_model_B.t50_tmp_lx *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12795 dx_hand_model_B.t50_tmp_i *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12796 dx_hand_model_B.t50_tmp_nu *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12797 dx_hand_model_B.t50_tmp_bs *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12798 dx_hand_model_B.t50_tmp_ln *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12799 dx_hand_model_B.t50_tmp_ny *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12800 dx_hand_model_B.t47_tmp *= dx_hand_model_B.sf_MATLABFunction1_p.z;
12801 dx_hand_model_B.t42_tmp_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12802 dx_hand_model_B.t41_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12803 dx_hand_model_B.t26_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12804 dx_hand_model_B.t23_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12805 dx_hand_model_B.t42_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;
12806 dx_hand_model_B.t20_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.z;
12807 dx_hand_model_B.t50 =
12808 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t50_tmp_b
12809 * 1.8150964665736191E+63 - dx_hand_model_B.t240 * 1.8150964665736191E+63) -
12810 dx_hand_model_B.t241 * 1.8150964665736191E+63) + dx_hand_model_B.t50_tmp *
12811 1.8150964665736191E+63) + dx_hand_model_B.t50_tmp_p * 1.8150964665736191E+63)
12812 - dx_hand_model_B.t242 * 1.8150964665736191E+63) - dx_hand_model_B.t243 *
12813 1.8150964665736191E+63) + dx_hand_model_B.t50_tmp_g * 1.8150964665736191E+63)
12814 + dx_hand_model_B.t50_tmp_f * 1.8150964665736191E+63) - dx_hand_model_B.t244
12815 * 1.8150964665736191E+63) - dx_hand_model_B.t245 * 1.8150964665736191E+63) +
12816 dx_hand_model_B.t50_tmp_c * 1.8150964665736191E+63) +
12817 dx_hand_model_B.t50_tmp_m * 2.9642774844752953E+79) - dx_hand_model_B.t246 *
12818 2.9642774844752953E+79) - dx_hand_model_B.t247 * 2.9642774844752953E+79) +
12819 dx_hand_model_B.t50_tmp_g1 * 2.9642774844752953E+79) +
12820 dx_hand_model_B.t50_tmp_n * 2.9642774844752953E+79) - dx_hand_model_B.t248 *
12821 2.9642774844752953E+79) + dx_hand_model_B.t50_tmp_l * 2.9642774844752953E+79)
12822 - dx_hand_model_B.t249 * 2.9642774844752953E+79) - dx_hand_model_B.t250 *
12823 2.9642774844752953E+79) + dx_hand_model_B.t50_tmp_pp *
12824 2.9642774844752953E+79) + dx_hand_model_B.t50_tmp_j * 2.9642774844752953E+79)
12825 - dx_hand_model_B.t251 * 2.9642774844752953E+79) +
12826 dx_hand_model_B.t50_tmp_gu * 1.8150964665736191E+63) - dx_hand_model_B.t252 *
12827 1.8150964665736191E+63) - dx_hand_model_B.t253 * 1.8150964665736191E+63) +
12828 dx_hand_model_B.t50_tmp_dh * 1.8150964665736191E+63) +
12829 dx_hand_model_B.t50_tmp_ld * 1.8150964665736191E+63) - dx_hand_model_B.t254 *
12830 1.8150964665736191E+63) + dx_hand_model_B.t50_tmp_dy *
12831 1.1114260389665261E+47) - dx_hand_model_B.t255 * 1.1114260389665261E+47) -
12832 dx_hand_model_B.t256 * 1.1114260389665261E+47) + dx_hand_model_B.t50_tmp_o *
12833 1.1114260389665261E+47) + dx_hand_model_B.t50_tmp_lx *
12834 1.1114260389665261E+47) - dx_hand_model_B.t257 * 1.1114260389665261E+47) +
12835 dx_hand_model_B.t50_tmp_nu * 1.8150964665736191E+63) +
12836 dx_hand_model_B.t50_tmp_bs * 1.8150964665736191E+63) +
12837 dx_hand_model_B.t50_tmp_ln * 1.1114260389665261E+47) - dx_hand_model_B.t258 *
12838 1.8150964665736191E+63) - dx_hand_model_B.t259 * 1.8150964665736191E+63) -
12839 dx_hand_model_B.t260 * 1.1114260389665261E+47) - dx_hand_model_B.t261 *
12840 1.8150964665736191E+63) - dx_hand_model_B.t262 * 1.8150964665736191E+63) -
12841 dx_hand_model_B.t263 * 1.1114260389665261E+47) + dx_hand_model_B.t42_tmp_tmp
12842 * 1.8150964665736191E+63) + dx_hand_model_B.t41_tmp * 1.8150964665736191E+63)
12843 + dx_hand_model_B.t42_tmp * 1.1114260389665261E+47) +
12844 dx_hand_model_B.t26_tmp * 1.8150964665736191E+63) + dx_hand_model_B.t23_tmp *
12845 1.8150964665736191E+63) + dx_hand_model_B.t20_tmp * 1.1114260389665261E+47)
12846 - dx_hand_model_B.t264 * 1.8150964665736191E+63) - dx_hand_model_B.t265 *
12847 1.8150964665736191E+63) - dx_hand_model_B.t266 * 1.1114260389665261E+47) -
12848 dx_hand_model_B.t267 * 1.1114260389665271E+47) - dx_hand_model_B.t268 *
12849 1.8150964665736191E+63) - dx_hand_model_B.t269 * 1.8150964665736191E+63) +
12850 dx_hand_model_B.t50_tmp_jz * 1.1114260389665271E+47) +
12851 dx_hand_model_B.t50_tmp_fd * 1.8150964665736191E+63) +
12852 dx_hand_model_B.t50_tmp_a * 1.8150964665736191E+63) +
12853 dx_hand_model_B.t50_tmp_da * 1.1114260389665271E+47) +
12854 dx_hand_model_B.t50_tmp_e * 1.8150964665736191E+63) +
12855 dx_hand_model_B.t50_tmp_bjv * 1.8150964665736191E+63) -
12856 dx_hand_model_B.t270 * 1.1114260389665271E+47) -
12857 dx_hand_model_B.t271 * 1.8150964665736191E+63) -
12858 dx_hand_model_B.t272 * 1.8150964665736191E+63) -
12859 dx_hand_model_B.t273 * 1.1114260389665271E+47) -
12860 dx_hand_model_B.t274 * 1.8150964665736191E+63) -
12861 dx_hand_model_B.t275 * 1.8150964665736191E+63) +
12862 dx_hand_model_B.t50_tmp_ju * 1.1114260389665271E+47) +
12863 dx_hand_model_B.t50_tmp_jz5 * 1.8150964665736191E+63) +
12864 dx_hand_model_B.t50_tmp_o4 * 1.8150964665736191E+63) -
12865 dx_hand_model_B.t276 * 1.1114260389665271E+47) +
12866 dx_hand_model_B.t50_tmp_i * 1.1114260389665271E+47) +
12867 dx_hand_model_B.t50_tmp_ny * 1.1114260389665271E+47) -
12868 dx_hand_model_B.t277 * 1.1114260389665271E+47) - dx_hand_model_B.t278 *
12869 1.1114260389665271E+47) + dx_hand_model_B.t47_tmp * 1.1114260389665271E+47;
12870 dx_hand_model_B.t54 = dx_hand_model_B.t54 *
12871 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;
12872 dx_hand_model_B.t57 = dx_hand_model_B.t57 *
12873 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;
12874 dx_hand_model_B.t58 = dx_hand_model_B.t58 *
12875 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;
12876 dx_hand_model_B.t66 = dx_hand_model_B.t66 *
12877 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12878 dx_hand_model_B.t67 = dx_hand_model_B.t67 *
12879 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12880 dx_hand_model_B.t68 = dx_hand_model_B.t68 *
12881 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12882 dx_hand_model_B.t70 = dx_hand_model_B.t70 *
12883 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12884 dx_hand_model_B.t71 = dx_hand_model_B.t71 *
12885 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12886 dx_hand_model_B.t72 = dx_hand_model_B.t72 *
12887 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12888 dx_hand_model_B.t73 = dx_hand_model_B.t73 *
12889 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12890 dx_hand_model_B.t76 = dx_hand_model_B.t76 *
12891 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12892 dx_hand_model_B.t77 = dx_hand_model_B.t77 *
12893 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12894 dx_hand_model_B.t80 = dx_hand_model_B.t80 *
12895 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12896 dx_hand_model_B.t81 = dx_hand_model_B.t81 *
12897 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12898 dx_hand_model_B.t86 = dx_hand_model_B.t86 *
12899 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12900 dx_hand_model_B.t91 = dx_hand_model_B.t91 *
12901 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12902 dx_hand_model_B.t92 = dx_hand_model_B.t92 *
12903 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12904 dx_hand_model_B.t93 = dx_hand_model_B.t93 *
12905 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;
12906 dx_hand_model_B.t94 = dx_hand_model_B.t94 *
12907 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12908 dx_hand_model_B.t95 = dx_hand_model_B.t95 *
12909 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;
12910 dx_hand_model_B.t96 = dx_hand_model_B.t96 *
12911 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12912 dx_hand_model_B.t97 = dx_hand_model_B.t97 *
12913 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12914 dx_hand_model_B.t98 = dx_hand_model_B.t98 *
12915 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12916 dx_hand_model_B.t99 = dx_hand_model_B.t99 *
12917 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;
12918 dx_hand_model_B.t100 = dx_hand_model_B.t100 *
12919 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12920 dx_hand_model_B.t101 = dx_hand_model_B.t101 *
12921 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12922 dx_hand_model_B.t102 = dx_hand_model_B.t102 *
12923 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12924 dx_hand_model_B.t103 = dx_hand_model_B.t103 *
12925 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;
12926 dx_hand_model_B.t104 = dx_hand_model_B.t104 *
12927 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;
12928 dx_hand_model_B.t105 = dx_hand_model_B.t105 *
12929 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;
12930 dx_hand_model_B.t109 = dx_hand_model_B.t109 *
12931 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12932 dx_hand_model_B.t110 = dx_hand_model_B.t110 *
12933 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12934 dx_hand_model_B.t111 = dx_hand_model_B.t111 *
12935 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12936 dx_hand_model_B.t112 = dx_hand_model_B.t112 *
12937 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12938 dx_hand_model_B.t113 = dx_hand_model_B.t113 *
12939 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
12940 dx_hand_model_B.t114 = dx_hand_model_B.t114 *
12941 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12942 dx_hand_model_B.t115 = dx_hand_model_B.t115 *
12943 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
12944 dx_hand_model_B.t116 = dx_hand_model_B.t116 *
12945 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12946 dx_hand_model_B.t117 = dx_hand_model_B.t117 *
12947 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
12948 dx_hand_model_B.t121 = dx_hand_model_B.t121 *
12949 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
12950 dx_hand_model_B.t122 = dx_hand_model_B.t122 *
12951 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
12952 dx_hand_model_B.t123 = dx_hand_model_B.t123 *
12953 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
12954 dx_hand_model_B.t90 = dx_hand_model_B.t50_tmp_tmp * dx_hand_model_B.t6;
12955 dx_hand_model_B.t106 = dx_hand_model_B.t50_tmp_tmp *
12956 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12957 dx_hand_model_B.t107 = dx_hand_model_B.t50_tmp_tmp *
12958 dx_hand_model_B.sf_MATLABFunction2_f.x;
12959 dx_hand_model_B.t108 = dx_hand_model_B.t50_tmp_tmp *
12960 dx_hand_model_B.sf_MATLABFunction1_p.x;
12961 dx_hand_model_B.t279 = dx_hand_model_B.t50_tmp_tmp_o *
12962 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12963 dx_hand_model_B.tmp_tmp = dx_hand_model_B.t50_tmp_tmp_o *
12964 dx_hand_model_B.sf_MATLABFunction2_f.x;
12965 dx_hand_model_B.tmp_tmp_m = dx_hand_model_B.t50_tmp_tmp_o *
12966 dx_hand_model_B.sf_MATLABFunction1_p.x;
12967 dx_hand_model_B.tmp_tmp_c = dx_hand_model_B.t50_tmp_tmp_n *
12968 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12969 dx_hand_model_B.tmp_tmp_md = dx_hand_model_B.t50_tmp_tmp_n *
12970 dx_hand_model_B.sf_MATLABFunction2_f.x;
12971 dx_hand_model_B.tmp_tmp_m3 = dx_hand_model_B.t50_tmp_tmp_n *
12972 dx_hand_model_B.sf_MATLABFunction1_p.x;
12973 dx_hand_model_B.tmp_tmp_j = dx_hand_model_B.t90 *
12974 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12975 dx_hand_model_B.tmp_tmp_h = dx_hand_model_B.t90 *
12976 dx_hand_model_B.sf_MATLABFunction2_f.y;
12977 dx_hand_model_B.t90 *= dx_hand_model_B.sf_MATLABFunction1_p.y;
12978 dx_hand_model_B.tmp_tmp_c0 = dx_hand_model_B.t50_tmp_bj *
12979 dx_hand_model_B.sf_MATLABFunction1_p.x;
12980 dx_hand_model_B.tmp_tmp_ct = dx_hand_model_B.t50_tmp_bj *
12981 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12982 dx_hand_model_B.tmp_tmp_p = dx_hand_model_B.t50_tmp_bj *
12983 dx_hand_model_B.sf_MATLABFunction2_f.x;
12984 dx_hand_model_B.tmp_tmp_p5 = dx_hand_model_B.t50_tmp_h *
12985 dx_hand_model_B.sf_MATLABFunction1_p.y;
12986 dx_hand_model_B.tmp_tmp_a = dx_hand_model_B.t50_tmp_bn *
12987 dx_hand_model_B.sf_MATLABFunction1_p.y;
12988 dx_hand_model_B.tmp_tmp_e = dx_hand_model_B.t50_tmp_h *
12989 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12990 dx_hand_model_B.tmp_tmp_ax = dx_hand_model_B.t50_tmp_bn *
12991 dx_hand_model_B.sf_MATLABFunction3_bs.y;
12992 dx_hand_model_B.tmp_tmp_as = dx_hand_model_B.t50_tmp_h *
12993 dx_hand_model_B.sf_MATLABFunction2_f.y;
12994 dx_hand_model_B.tmp_tmp_i = dx_hand_model_B.t50_tmp_bn *
12995 dx_hand_model_B.sf_MATLABFunction2_f.y;
12996 dx_hand_model_B.tmp_tmp_l = dx_hand_model_B.t50_tmp_d *
12997 dx_hand_model_B.sf_MATLABFunction3_bs.x;
12998 dx_hand_model_B.tmp_tmp_o = dx_hand_model_B.t50_tmp_d *
12999 dx_hand_model_B.sf_MATLABFunction2_f.x;
13000 dx_hand_model_B.tmp_tmp_o2 = dx_hand_model_B.t50_tmp_d *
13001 dx_hand_model_B.sf_MATLABFunction1_p.x;
13002 dx_hand_model_B.tmp_tmp_ip = dx_hand_model_B.t106 *
13003 dx_hand_model_B.sf_MATLABFunction1_p.y;
13004 dx_hand_model_B.tmp_tmp_f = dx_hand_model_B.t107 *
13005 dx_hand_model_B.sf_MATLABFunction3_bs.y;
13006 dx_hand_model_B.tmp_tmp_iz = dx_hand_model_B.t108 *
13007 dx_hand_model_B.sf_MATLABFunction2_f.y;
13008 dx_hand_model_B.t50_tmp_d = dx_hand_model_B.tmp_tmp_m *
13009 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;
13010 dx_hand_model_B.t50_tmp_bn = dx_hand_model_B.t279 *
13011 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;
13012 dx_hand_model_B.t50_tmp_h = dx_hand_model_B.tmp_tmp *
13013 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;
13014 dx_hand_model_B.t50_tmp_bj = dx_hand_model_B.tmp_tmp_ct *
13015 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
13016 dx_hand_model_B.t50_tmp_tmp_n = dx_hand_model_B.tmp_tmp_p *
13017 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
13018 dx_hand_model_B.t50_tmp_tmp_o = dx_hand_model_B.tmp_tmp_c0 *
13019 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
13020 dx_hand_model_B.t50_tmp_tmp = dx_hand_model_B.tmp_tmp_e *
13021 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
13022 dx_hand_model_B.tmp_tmp_ff = dx_hand_model_B.tmp_tmp_ax *
13023 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;
13024 dx_hand_model_B.tmp_tmp_g = dx_hand_model_B.tmp_tmp_as *
13025 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
13026 dx_hand_model_B.tmp_tmp_co = dx_hand_model_B.tmp_tmp_i *
13027 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;
13028 dx_hand_model_B.tmp_tmp_o3 = dx_hand_model_B.tmp_tmp_p5 *
13029 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
13030 dx_hand_model_B.tmp_tmp_lm = dx_hand_model_B.tmp_tmp_a *
13031 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;
13032 dx_hand_model_B.tmp_tmp_mv = dx_hand_model_B.tmp_tmp_o2 *
13033 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;
13034 dx_hand_model_B.tmp_tmp_mj = dx_hand_model_B.tmp_tmp_l *
13035 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
13036 dx_hand_model_B.tmp_tmp_cn = dx_hand_model_B.tmp_tmp_o *
13037 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;
13038 dx_hand_model_B.t90 =
13039 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
13040 (((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t8 +
13041 dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +
13042 dx_hand_model_B.t12) + dx_hand_model_B.t13) + dx_hand_model_B.t14) +
13043 dx_hand_model_B.t15) + dx_hand_model_B.t16) + dx_hand_model_B.t17) +
13044 dx_hand_model_B.t18) + dx_hand_model_B.t19) + dx_hand_model_B.t20) +
13045 dx_hand_model_B.t21) + dx_hand_model_B.t22) + dx_hand_model_B.t23) +
13046 dx_hand_model_B.t24) + dx_hand_model_B.t25) + dx_hand_model_B.t26) +
13047 dx_hand_model_B.t27) + dx_hand_model_B.t28) + dx_hand_model_B.t29) +
13048 dx_hand_model_B.t30) + dx_hand_model_B.t31) - dx_hand_model_B.t32) -
13049 dx_hand_model_B.t33) - dx_hand_model_B.t34) + dx_hand_model_B.t35) +
13050 dx_hand_model_B.t36) + dx_hand_model_B.t37) - dx_hand_model_B.t38) -
13051 dx_hand_model_B.t39) - dx_hand_model_B.t40) - dx_hand_model_B.t41) -
13052 dx_hand_model_B.t42) - dx_hand_model_B.t43) - dx_hand_model_B.t44) -
13053 dx_hand_model_B.t45) - dx_hand_model_B.t46) - dx_hand_model_B.t47) -
13054 dx_hand_model_B.t48) - dx_hand_model_B.t49) + dx_hand_model_B.t108 *
13055 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.1114260389665261E+47) +
13056 dx_hand_model_B.t106 * dx_hand_model_B.sf_MATLABFunction2_f.y *
13057 1.1114260389665261E+47) + dx_hand_model_B.t107 *
13058 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.1114260389665261E+47) +
13059 dx_hand_model_B.t54) + dx_hand_model_B.t50_tmp_d) +
13060 dx_hand_model_B.t50_tmp_bn) + dx_hand_model_B.t57) + dx_hand_model_B.t58) +
13061 dx_hand_model_B.t50_tmp_h) + dx_hand_model_B.tmp_tmp_m3 *
13062 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.8150964665736191E+63) +
13063 dx_hand_model_B.tmp_tmp_c * dx_hand_model_B.sf_MATLABFunction2_f.z *
13064 1.8150964665736191E+63) + dx_hand_model_B.tmp_tmp_md *
13065 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.8150964665736191E+63) +
13066 dx_hand_model_B.t90 * dx_hand_model_B.sf_MATLABFunction3_bs.z *
13067 1.8150964665736191E+63) + dx_hand_model_B.tmp_tmp_j *
13068 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.8150964665736191E+63) +
13069 dx_hand_model_B.tmp_tmp_h * dx_hand_model_B.sf_MATLABFunction1_p.z *
13070 1.8150964665736191E+63) + dx_hand_model_B.t66) + dx_hand_model_B.t67) +
13071 dx_hand_model_B.t68) + dx_hand_model_B.t50_tmp_bj) + dx_hand_model_B.t70) +
13072 dx_hand_model_B.t71) + dx_hand_model_B.t72) + dx_hand_model_B.t73) +
13073 dx_hand_model_B.t50_tmp_tmp_n) + dx_hand_model_B.t50_tmp_tmp_o) +
13074 dx_hand_model_B.t76) + dx_hand_model_B.t77) + dx_hand_model_B.t50_tmp_tmp) +
13075 dx_hand_model_B.tmp_tmp_ff) + dx_hand_model_B.t80) + dx_hand_model_B.t81) +
13076 dx_hand_model_B.tmp_tmp_g) + dx_hand_model_B.tmp_tmp_co) +
13077 dx_hand_model_B.tmp_tmp_o3) + dx_hand_model_B.tmp_tmp_lm) +
13078 dx_hand_model_B.t86) + dx_hand_model_B.tmp_tmp_mv) +
13079 dx_hand_model_B.tmp_tmp_mj) + dx_hand_model_B.tmp_tmp_cn) -
13080 dx_hand_model_B.t91) - dx_hand_model_B.t92) - dx_hand_model_B.t93) -
13081 dx_hand_model_B.t94) - dx_hand_model_B.t95) - dx_hand_model_B.t96) -
13082 dx_hand_model_B.t97) - dx_hand_model_B.t98) - dx_hand_model_B.t99) -
13083 dx_hand_model_B.t100) - dx_hand_model_B.t101) - dx_hand_model_B.t102) -
13084 dx_hand_model_B.t103) - dx_hand_model_B.t104) - dx_hand_model_B.t105) -
13085 dx_hand_model_B.t109) - dx_hand_model_B.t110) - dx_hand_model_B.t111) -
13086 dx_hand_model_B.t112) - dx_hand_model_B.t113) - dx_hand_model_B.t114) -
13087 dx_hand_model_B.t115) - dx_hand_model_B.t116) - dx_hand_model_B.t117) -
13088 dx_hand_model_B.t121) - dx_hand_model_B.t122) - dx_hand_model_B.t123) -
13089 dx_hand_model_B.tmp_tmp_ip * 1.1114260389665261E+47) -
13090 dx_hand_model_B.tmp_tmp_f * 1.1114260389665261E+47) -
13091 dx_hand_model_B.tmp_tmp_iz * 1.1114260389665261E+47) - dx_hand_model_B.t279 *
13092 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) -
13093 dx_hand_model_B.tmp_tmp *
13094 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13095 1.482138742237647E+79) - dx_hand_model_B.tmp_tmp_m *
13096 dx_hand_model_B.sf_MATLABFunction2_f.y *
13097 1.482138742237647E+79) - dx_hand_model_B.tmp_tmp_c *
13098 dx_hand_model_B.sf_MATLABFunction1_p.z *
13099 1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_md *
13100 dx_hand_model_B.sf_MATLABFunction3_bs.z *
13101 1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_m3 *
13102 dx_hand_model_B.sf_MATLABFunction2_f.z *
13103 1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_j *
13104 dx_hand_model_B.sf_MATLABFunction1_p.z *
13105 1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_h *
13106 dx_hand_model_B.sf_MATLABFunction3_bs.z *
13107 1.8150964665736191E+63) - dx_hand_model_B.t90 *
13108 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.8150964665736191E+63)
13109 - dx_hand_model_B.tmp_tmp_c0 *
13110 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)
13111 - dx_hand_model_B.tmp_tmp_ct *
13112 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -
13113 dx_hand_model_B.tmp_tmp_p * dx_hand_model_B.sf_MATLABFunction1_p.z *
13114 9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_p5 *
13115 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -
13116 dx_hand_model_B.tmp_tmp_a * dx_hand_model_B.sf_MATLABFunction3_bs.z *
13117 9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_e *
13118 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -
13119 dx_hand_model_B.tmp_tmp_ax * dx_hand_model_B.sf_MATLABFunction2_f.z *
13120 9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_as *
13121 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -
13122 dx_hand_model_B.tmp_tmp_i * dx_hand_model_B.sf_MATLABFunction1_p.z *
13123 9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_l *
13124 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -
13125 dx_hand_model_B.tmp_tmp_o * dx_hand_model_B.sf_MATLABFunction3_bs.z *
13126 1.482138742237647E+79) - dx_hand_model_B.tmp_tmp_o2 *
13127 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;
13128 dx_hand_model_B.t106 = dx_hand_model_B.tmp_tmp_ip * 2.229194389367849E+30;
13129 dx_hand_model_B.t107 = dx_hand_model_B.tmp_tmp_f * 2.229194389367849E+30;
13130 dx_hand_model_B.t108 = dx_hand_model_B.tmp_tmp_iz * 2.229194389367849E+30;
13131 dx_hand_model_B.t50 = dx_hand_model_B.t50 * dx_hand_model_B.t50 * 0.25;
13132 dx_hand_model_B.t240 *= 9.0754823328680938E+62;
13133 dx_hand_model_B.t241 *= 9.0754823328680938E+62;
13134 dx_hand_model_B.t242 *= 9.0754823328680938E+62;
13135 dx_hand_model_B.t243 *= 9.0754823328680938E+62;
13136 dx_hand_model_B.t244 *= 9.0754823328680938E+62;
13137 dx_hand_model_B.t245 *= 9.0754823328680938E+62;
13138 dx_hand_model_B.t246 *= 1.482138742237647E+79;
13139 dx_hand_model_B.t247 *= 1.482138742237647E+79;
13140 dx_hand_model_B.t248 *= 1.482138742237647E+79;
13141 dx_hand_model_B.t249 *= 1.482138742237647E+79;
13142 dx_hand_model_B.t250 *= 1.482138742237647E+79;
13143 dx_hand_model_B.t251 *= 1.482138742237647E+79;
13144 dx_hand_model_B.t252 *= 9.0754823328680938E+62;
13145 dx_hand_model_B.t253 *= 9.0754823328680938E+62;
13146 dx_hand_model_B.t254 *= 9.0754823328680938E+62;
13147 dx_hand_model_B.t255 *= 5.5571301948326323E+46;
13148 dx_hand_model_B.t256 *= 5.5571301948326323E+46;
13149 dx_hand_model_B.t257 *= 5.5571301948326323E+46;
13150 dx_hand_model_B.t258 *= 9.0754823328680938E+62;
13151 dx_hand_model_B.t259 *= 9.0754823328680938E+62;
13152 dx_hand_model_B.t260 *= 5.5571301948326323E+46;
13153 dx_hand_model_B.t261 *= 9.0754823328680938E+62;
13154 dx_hand_model_B.t262 *= 9.0754823328680938E+62;
13155 dx_hand_model_B.t263 *= 5.5571301948326323E+46;
13156 dx_hand_model_B.t264 *= 9.0754823328680938E+62;
13157 dx_hand_model_B.t265 *= 9.0754823328680938E+62;
13158 dx_hand_model_B.t266 *= 5.5571301948326323E+46;
13159 dx_hand_model_B.t267 *= 5.5571301948326333E+46;
13160 dx_hand_model_B.t268 *= 9.0754823328680938E+62;
13161 dx_hand_model_B.t269 *= 9.0754823328680938E+62;
13162 dx_hand_model_B.t270 *= 5.5571301948326333E+46;
13163 dx_hand_model_B.t271 *= 9.0754823328680938E+62;
13164 dx_hand_model_B.t272 *= 9.0754823328680938E+62;
13165 dx_hand_model_B.t273 *= 5.5571301948326333E+46;
13166 dx_hand_model_B.t274 *= 9.0754823328680938E+62;
13167 dx_hand_model_B.t275 *= 9.0754823328680938E+62;
13168 dx_hand_model_B.t276 *= 5.5571301948326333E+46;
13169 dx_hand_model_B.t277 *= 5.5571301948326333E+46;
13170 dx_hand_model_B.t278 *= 5.5571301948326333E+46;
13171 dx_hand_model_B.t279 = 1.0 / dx_hand_model_B.t90;
13172 dx_hand_model_B.dc0 = dx_hand_model_my_sqrt(dx_hand_model_B.t50 -
13173 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
13174 ((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t8 +
13175 dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +
13176 dx_hand_model_B.t12) + dx_hand_model_B.t13) + dx_hand_model_B.t14) +
13177 dx_hand_model_B.t15) + dx_hand_model_B.t16) + dx_hand_model_B.t17) +
13178 dx_hand_model_B.t18) + dx_hand_model_B.t19) + dx_hand_model_B.t20) +
13179 dx_hand_model_B.t21) + dx_hand_model_B.t22) + dx_hand_model_B.t23) +
13180 dx_hand_model_B.t24) + dx_hand_model_B.t25) + dx_hand_model_B.t26) +
13181 dx_hand_model_B.t27) + dx_hand_model_B.t28) + dx_hand_model_B.t29) +
13182 dx_hand_model_B.t30) + dx_hand_model_B.t31) + dx_hand_model_B.t32) +
13183 dx_hand_model_B.t33) + dx_hand_model_B.t34) + dx_hand_model_B.t35) +
13184 dx_hand_model_B.t36) + dx_hand_model_B.t37) + dx_hand_model_B.t38) +
13185 dx_hand_model_B.t39) + dx_hand_model_B.t40) + dx_hand_model_B.t41) +
13186 dx_hand_model_B.t42) + dx_hand_model_B.t43) + dx_hand_model_B.t44) +
13187 dx_hand_model_B.t45) + dx_hand_model_B.t46) + dx_hand_model_B.t47) +
13188 dx_hand_model_B.t48) + dx_hand_model_B.t49) + dx_hand_model_B.t106) +
13189 dx_hand_model_B.t107) + dx_hand_model_B.t108) + dx_hand_model_B.t50_tmp_d) +
13190 dx_hand_model_B.t50_tmp_bn) + dx_hand_model_B.t50_tmp_h) +
13191 dx_hand_model_B.t50_tmp_bj) + dx_hand_model_B.t50_tmp_tmp_n) +
13192 dx_hand_model_B.t50_tmp_tmp_o) + dx_hand_model_B.t50_tmp_tmp) +
13193 dx_hand_model_B.tmp_tmp_ff) + dx_hand_model_B.tmp_tmp_g) +
13194 dx_hand_model_B.tmp_tmp_co) + dx_hand_model_B.tmp_tmp_o3) +
13195 dx_hand_model_B.tmp_tmp_lm) + dx_hand_model_B.tmp_tmp_mv) +
13196 dx_hand_model_B.tmp_tmp_mj) + dx_hand_model_B.tmp_tmp_cn) - (real_T)
13197 dx_hand_model_B.sf_MATLABFunction4_o.x *
13198 dx_hand_model_B.sf_MATLABFunction1_p.y *
13199 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real_T)
13200 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13201 dx_hand_model_B.sf_MATLABFunction4_o.y *
13202 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real_T)
13203 dx_hand_model_B.sf_MATLABFunction1_p.x *
13204 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13205 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79) - (real_T)
13206 dx_hand_model_B.sf_MATLABFunction4_o.x *
13207 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13208 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real_T)
13209 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13210 dx_hand_model_B.sf_MATLABFunction2_f.y *
13211 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79) - (real_T)
13212 dx_hand_model_B.sf_MATLABFunction2_f.x *
13213 dx_hand_model_B.sf_MATLABFunction4_o.y *
13214 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real_T)
13215 dx_hand_model_B.sf_MATLABFunction4_o.x *
13216 dx_hand_model_B.sf_MATLABFunction2_f.y *
13217 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real_T)
13218 dx_hand_model_B.sf_MATLABFunction1_p.x *
13219 dx_hand_model_B.sf_MATLABFunction4_o.y *
13220 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real_T)
13221 dx_hand_model_B.sf_MATLABFunction2_f.x *
13222 dx_hand_model_B.sf_MATLABFunction1_p.y *
13223 dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79) - (real_T)
13224 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13225 dx_hand_model_B.sf_MATLABFunction1_p.y *
13226 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real_T)
13227 dx_hand_model_B.sf_MATLABFunction1_p.x *
13228 dx_hand_model_B.sf_MATLABFunction2_f.y *
13229 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real_T)
13230 dx_hand_model_B.sf_MATLABFunction2_f.x *
13231 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13232 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)
13233 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13234 dx_hand_model_B.sf_MATLABFunction1_p.x *
13235 dx_hand_model_B.sf_MATLABFunction3_bs.y * 2.229194389367849E+30) - (real32_T)
13236 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13237 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13238 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) - (real32_T)
13239 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13240 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13241 dx_hand_model_B.sf_MATLABFunction2_f.y * 2.229194389367849E+30) - (real32_T)
13242 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13243 dx_hand_model_B.sf_MATLABFunction2_f.x *
13244 dx_hand_model_B.sf_MATLABFunction1_p.y * 2.229194389367849E+30) - (real32_T)
13245 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13246 dx_hand_model_B.sf_MATLABFunction2_f.x *
13247 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79) - (real32_T)
13248 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13249 dx_hand_model_B.sf_MATLABFunction1_p.x *
13250 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79) - (real32_T)
13251 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13252 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction3_bs.x *
13253 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) - (real32_T)
13254 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13255 dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction3_bs.x *
13256 dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) - (real32_T)
13257 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13258 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction2_f.x *
13259 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79) - (real32_T)
13260 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13261 dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction2_f.x *
13262 dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79) - (real32_T)
13263 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13264 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction1_p.x *
13265 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79) - (real32_T)
13266 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13267 dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction1_p.x *
13268 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79) - (real32_T)
13269 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13270 dx_hand_model_B.t4 * dx_hand_model_B.sf_MATLABFunction1_p.x *
13271 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -
13272 (real32_T)dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t5 *
13273 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction1_p.x *
13274 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)
13275 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13276 dx_hand_model_B.t4 * dx_hand_model_B.sf_MATLABFunction3_bs.x *
13277 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) - (real32_T)
13278 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13279 dx_hand_model_B.t4 * dx_hand_model_B.sf_MATLABFunction2_f.x *
13280 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) - (real32_T)
13281 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13282 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13283 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real32_T)
13284 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13285 dx_hand_model_B.sf_MATLABFunction2_f.x *
13286 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)
13287 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13288 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction1_p.y *
13289 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -
13290 (real32_T)dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t4 *
13291 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction3_bs.y *
13292 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)
13293 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13294 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction3_bs.y *
13295 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) - (real32_T)
13296 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *
13297 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction2_f.y *
13298 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) - (real32_T)
13299 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13300 dx_hand_model_B.sf_MATLABFunction2_f.y *
13301 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)
13302 dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13303 dx_hand_model_B.sf_MATLABFunction1_p.y *
13304 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real32_T)
13305 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13306 dx_hand_model_B.t3_tmp * dx_hand_model_B.t6 *
13307 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13308 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)
13309 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13310 dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13311 dx_hand_model_B.sf_MATLABFunction1_p.x *
13312 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -
13313 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13314 dx_hand_model_B.t4 * dx_hand_model_B.t7_tmp *
13315 dx_hand_model_B.sf_MATLABFunction1_p.x *
13316 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -
13317 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t5 *
13318 dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *
13319 dx_hand_model_B.sf_MATLABFunction1_p.x *
13320 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)
13321 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13322 dx_hand_model_B.t3_tmp * dx_hand_model_B.t6 *
13323 dx_hand_model_B.sf_MATLABFunction2_f.x *
13324 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)
13325 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13326 dx_hand_model_B.t3_tmp * dx_hand_model_B.t6 *
13327 dx_hand_model_B.sf_MATLABFunction1_p.x *
13328 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real32_T)
13329 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp
13330 * dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13331 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13332 dx_hand_model_B.sf_MATLABFunction2_f.z *
13333 9.0754823328680938E+62) - (real32_T)
13334 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13335 dx_hand_model_B.t4 * dx_hand_model_B.t7_tmp *
13336 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13337 dx_hand_model_B.sf_MATLABFunction2_f.z *
13338 9.0754823328680938E+62) - (real32_T)
13339 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13340 dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13341 dx_hand_model_B.sf_MATLABFunction2_f.x *
13342 dx_hand_model_B.sf_MATLABFunction1_p.z *
13343 9.0754823328680938E+62) - (real32_T)
13344 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13345 dx_hand_model_B.t4 * dx_hand_model_B.t7_tmp *
13346 dx_hand_model_B.sf_MATLABFunction2_f.x *
13347 dx_hand_model_B.sf_MATLABFunction1_p.z *
13348 9.0754823328680938E+62) - (real32_T)
13349 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t5 *
13350 dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *
13351 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13352 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79)
13353 - (real32_T)dx_hand_model_B.RateTransition_kl *
13354 dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13355 dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction2_f.x
13356 * dx_hand_model_B.sf_MATLABFunction1_p.z *
13357 1.482138742237647E+79) - (real32_T)
13358 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13359 dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *
13360 dx_hand_model_B.sf_MATLABFunction1_p.y *
13361 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79)
13362 - (real32_T)dx_hand_model_B.RateTransition_kl *
13363 dx_hand_model_B.t3_tmp * dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13364 dx_hand_model_B.sf_MATLABFunction1_p.y *
13365 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)
13366 - (real32_T)dx_hand_model_B.RateTransition_kl *
13367 dx_hand_model_B.Switch * dx_hand_model_B.t6 *
13368 dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction1_p.y *
13369 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)
13370 - (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t4 *
13371 dx_hand_model_B.t5 * dx_hand_model_B.t7_tmp *
13372 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13373 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -
13374 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch
13375 * dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *
13376 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13377 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -
13378 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13379 dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *
13380 dx_hand_model_B.sf_MATLABFunction2_f.y *
13381 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -
13382 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13383 dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13384 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13385 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -
13386 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13387 dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *
13388 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13389 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -
13390 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13391 dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13392 dx_hand_model_B.sf_MATLABFunction2_f.y *
13393 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) -
13394 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13395 dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *
13396 dx_hand_model_B.sf_MATLABFunction2_f.y *
13397 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) -
13398 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t4 *
13399 dx_hand_model_B.t5 * dx_hand_model_B.t7_tmp *
13400 dx_hand_model_B.sf_MATLABFunction2_f.y *
13401 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -
13402 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t4 *
13403 dx_hand_model_B.t5 * dx_hand_model_B.t7_tmp *
13404 dx_hand_model_B.sf_MATLABFunction1_p.y *
13405 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) *
13406 dx_hand_model_B.t90);
13407 dx_hand_model_B.dc1 = dx_hand_model_my_sqrt(dx_hand_model_B.t50 -
13408 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
13409 ((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t8 +
13410 dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +
13411 dx_hand_model_B.t12) + dx_hand_model_B.t13) + dx_hand_model_B.t14) +
13412 dx_hand_model_B.t15) + dx_hand_model_B.t16) + dx_hand_model_B.t17) +
13413 dx_hand_model_B.t18) + dx_hand_model_B.t19) + dx_hand_model_B.t20) +
13414 dx_hand_model_B.t21) + dx_hand_model_B.t22) + dx_hand_model_B.t23) +
13415 dx_hand_model_B.t24) + dx_hand_model_B.t25) + dx_hand_model_B.t26) +
13416 dx_hand_model_B.t27) + dx_hand_model_B.t28) + dx_hand_model_B.t29) +
13417 dx_hand_model_B.t30) + dx_hand_model_B.t31) + dx_hand_model_B.t32) +
13418 dx_hand_model_B.t33) + dx_hand_model_B.t34) + dx_hand_model_B.t35) +
13419 dx_hand_model_B.t36) + dx_hand_model_B.t37) + dx_hand_model_B.t38) +
13420 dx_hand_model_B.t39) + dx_hand_model_B.t40) + dx_hand_model_B.t41) +
13421 dx_hand_model_B.t42) + dx_hand_model_B.t43) + dx_hand_model_B.t44) +
13422 dx_hand_model_B.t45) + dx_hand_model_B.t46) + dx_hand_model_B.t47) +
13423 dx_hand_model_B.t48) + dx_hand_model_B.t49) - dx_hand_model_B.t54) -
13424 dx_hand_model_B.t57) - dx_hand_model_B.t58) - dx_hand_model_B.t66) -
13425 dx_hand_model_B.t67) - dx_hand_model_B.t68) - dx_hand_model_B.t70) -
13426 dx_hand_model_B.t71) - dx_hand_model_B.t72) - dx_hand_model_B.t73) -
13427 dx_hand_model_B.t76) - dx_hand_model_B.t77) - dx_hand_model_B.t80) -
13428 dx_hand_model_B.t81) - dx_hand_model_B.t86) - dx_hand_model_B.t91) -
13429 dx_hand_model_B.t92) - dx_hand_model_B.t93) - dx_hand_model_B.t94) -
13430 dx_hand_model_B.t95) - dx_hand_model_B.t96) - dx_hand_model_B.t97) -
13431 dx_hand_model_B.t98) - dx_hand_model_B.t99) - dx_hand_model_B.t100) -
13432 dx_hand_model_B.t101) - dx_hand_model_B.t102) - dx_hand_model_B.t103) -
13433 dx_hand_model_B.t104) - dx_hand_model_B.t105) + dx_hand_model_B.t106) +
13434 dx_hand_model_B.t107) + dx_hand_model_B.t108) - dx_hand_model_B.t109) -
13435 dx_hand_model_B.t110) - dx_hand_model_B.t111) - dx_hand_model_B.t112) -
13436 dx_hand_model_B.t113) - dx_hand_model_B.t114) - dx_hand_model_B.t115) -
13437 dx_hand_model_B.t116) - dx_hand_model_B.t117) + dx_hand_model_B.t50_tmp_d) +
13438 dx_hand_model_B.t50_tmp_bn) + dx_hand_model_B.t50_tmp_h) -
13439 dx_hand_model_B.t121) - dx_hand_model_B.t122) - dx_hand_model_B.t123) +
13440 dx_hand_model_B.t50_tmp_bj) + dx_hand_model_B.t50_tmp_tmp_n) +
13441 dx_hand_model_B.t50_tmp_tmp_o) + dx_hand_model_B.t50_tmp_tmp) +
13442 dx_hand_model_B.tmp_tmp_ff) + dx_hand_model_B.tmp_tmp_g) +
13443 dx_hand_model_B.tmp_tmp_co) + dx_hand_model_B.tmp_tmp_o3) +
13444 dx_hand_model_B.tmp_tmp_lm) + dx_hand_model_B.tmp_tmp_mv) +
13445 dx_hand_model_B.tmp_tmp_mj) + dx_hand_model_B.tmp_tmp_cn) - (real32_T)
13446 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp
13447 * dx_hand_model_B.sf_MATLABFunction1_p.x *
13448 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13449 2.229194389367849E+30) - (real32_T)
13450 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13451 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13452 dx_hand_model_B.sf_MATLABFunction2_f.y *
13453 2.229194389367849E+30) - (real32_T)
13454 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13455 dx_hand_model_B.sf_MATLABFunction2_f.x *
13456 dx_hand_model_B.sf_MATLABFunction1_p.y *
13457 2.229194389367849E+30) - (real32_T)
13458 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13459 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction3_bs.x *
13460 dx_hand_model_B.sf_MATLABFunction1_p.y *
13461 1.482138742237647E+79) - (real32_T)
13462 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13463 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction2_f.x *
13464 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13465 1.482138742237647E+79) - (real32_T)
13466 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13467 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction1_p.x *
13468 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79)
13469 - (real32_T)dx_hand_model_B.RateTransition_kl *
13470 dx_hand_model_B.Switch * dx_hand_model_B.t3_tmp *
13471 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction3_bs.x *
13472 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79)
13473 - (real32_T)dx_hand_model_B.RateTransition_kl *
13474 dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13475 dx_hand_model_B.sf_MATLABFunction1_p.x *
13476 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)
13477 - (real32_T)dx_hand_model_B.RateTransition_kl *
13478 dx_hand_model_B.Switch * dx_hand_model_B.t3_tmp *
13479 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction2_f.x *
13480 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -
13481 (real32_T)dx_hand_model_B.RateTransition_kl *
13482 dx_hand_model_B.Switch * dx_hand_model_B.t3_tmp *
13483 dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction1_p.x *
13484 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -
13485 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp
13486 * dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13487 dx_hand_model_B.sf_MATLABFunction3_bs.x *
13488 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -
13489 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13490 dx_hand_model_B.t4 * dx_hand_model_B.t5 *
13491 dx_hand_model_B.sf_MATLABFunction2_f.x *
13492 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) -
13493 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13494 dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *
13495 dx_hand_model_B.sf_MATLABFunction1_p.y *
13496 dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -
13497 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13498 dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13499 dx_hand_model_B.sf_MATLABFunction1_p.y *
13500 dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -
13501 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13502 dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *
13503 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13504 dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -
13505 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *
13506 dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *
13507 dx_hand_model_B.sf_MATLABFunction2_f.y *
13508 dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -
13509 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13510 dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13511 dx_hand_model_B.sf_MATLABFunction3_bs.y *
13512 dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -
13513 (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *
13514 dx_hand_model_B.t5 * dx_hand_model_B.t6 *
13515 dx_hand_model_B.sf_MATLABFunction2_f.y *
13516 dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) *
13517 dx_hand_model_B.t90);
13518 dx_hand_model_B.t4 = dx_hand_model_B.t50_tmp_b * 9.0754823328680938E+62;
13519 dx_hand_model_B.Switch = dx_hand_model_B.t50_tmp * 9.0754823328680938E+62;
13520 dx_hand_model_B.t5 = dx_hand_model_B.t50_tmp_p * 9.0754823328680938E+62;
13521 dx_hand_model_B.t6 = dx_hand_model_B.t50_tmp_gu * 9.0754823328680938E+62;
13522 dx_hand_model_B.t8 = dx_hand_model_B.t50_tmp_g * 9.0754823328680938E+62;
13523 dx_hand_model_B.t9 = dx_hand_model_B.t50_tmp_dh * 9.0754823328680938E+62;
13524 dx_hand_model_B.t10 = dx_hand_model_B.t50_tmp_ld * 9.0754823328680938E+62;
13525 dx_hand_model_B.t11 = dx_hand_model_B.t50_tmp_f * 9.0754823328680938E+62;
13526 dx_hand_model_B.t50_tmp_c *= 9.0754823328680938E+62;
13527 dx_hand_model_B.t50_tmp_m *= 1.482138742237647E+79;
13528 dx_hand_model_B.t50_tmp_g1 *= 1.482138742237647E+79;
13529 dx_hand_model_B.t50_tmp_n *= 1.482138742237647E+79;
13530 dx_hand_model_B.t50_tmp_l *= 1.482138742237647E+79;
13531 dx_hand_model_B.t50_tmp_pp *= 1.482138742237647E+79;
13532 dx_hand_model_B.t50_tmp_j *= 1.482138742237647E+79;
13533 dx_hand_model_B.t50_tmp_jz *= 5.5571301948326333E+46;
13534 dx_hand_model_B.t50_tmp_fd *= 9.0754823328680938E+62;
13535 dx_hand_model_B.t50_tmp_a *= 9.0754823328680938E+62;
13536 dx_hand_model_B.t50_tmp_dy *= 5.5571301948326323E+46;
13537 dx_hand_model_B.t50_tmp_da *= 5.5571301948326333E+46;
13538 dx_hand_model_B.t50_tmp_ju *= 5.5571301948326333E+46;
13539 dx_hand_model_B.t50_tmp_e *= 9.0754823328680938E+62;
13540 dx_hand_model_B.t50_tmp_bjv *= 9.0754823328680938E+62;
13541 dx_hand_model_B.t50_tmp_jz5 *= 9.0754823328680938E+62;
13542 dx_hand_model_B.t50_tmp_o4 *= 9.0754823328680938E+62;
13543 dx_hand_model_B.t50_tmp_o *= 5.5571301948326323E+46;
13544 dx_hand_model_B.t50_tmp_lx *= 5.5571301948326323E+46;
13545 dx_hand_model_B.t50_tmp_i *= 5.5571301948326333E+46;
13546 dx_hand_model_B.t50_tmp_nu *= 9.0754823328680938E+62;
13547 dx_hand_model_B.t50_tmp_bs *= 9.0754823328680938E+62;
13548 dx_hand_model_B.t50_tmp_ln *= 5.5571301948326323E+46;
13549 dx_hand_model_B.t50_tmp_ny *= 5.5571301948326333E+46;
13550 dx_hand_model_B.t47_tmp *= 5.5571301948326333E+46;
13551 dx_hand_model_B.t42_tmp_tmp *= 9.0754823328680938E+62;
13552 dx_hand_model_B.t41_tmp *= 9.0754823328680938E+62;
13553 dx_hand_model_B.t26_tmp *= 9.0754823328680938E+62;
13554 dx_hand_model_B.t23_tmp *= 9.0754823328680938E+62;
13555 dx_hand_model_B.t42_tmp *= 5.5571301948326323E+46;
13556 dx_hand_model_B.t20_tmp *= 5.5571301948326323E+46;
13557 dx_hand_model_B.MCP_AA_s[0].re =
13558 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
13559 (dx_hand_model_B.t240 + dx_hand_model_B.t241) + dx_hand_model_B.t242) +
13560 dx_hand_model_B.t243) + dx_hand_model_B.t244) + dx_hand_model_B.t245) +
13561 dx_hand_model_B.t246) + dx_hand_model_B.t247) + dx_hand_model_B.t248) +
13562 dx_hand_model_B.t249) + dx_hand_model_B.t250) + dx_hand_model_B.t251) +
13563 dx_hand_model_B.t252) + dx_hand_model_B.t253) + dx_hand_model_B.t254) +
13564 dx_hand_model_B.t255) + dx_hand_model_B.t256) + dx_hand_model_B.t257) +
13565 dx_hand_model_B.t258) + dx_hand_model_B.t259) + dx_hand_model_B.t260) +
13566 dx_hand_model_B.t261) + dx_hand_model_B.t262) + dx_hand_model_B.t263) +
13567 dx_hand_model_B.t264) + dx_hand_model_B.t265) + dx_hand_model_B.t266) +
13568 dx_hand_model_B.t267) + dx_hand_model_B.t268) + dx_hand_model_B.t269) +
13569 dx_hand_model_B.t270) + dx_hand_model_B.t271) + dx_hand_model_B.t272) +
13570 dx_hand_model_B.t273) + dx_hand_model_B.t274) + dx_hand_model_B.t275) +
13571 dx_hand_model_B.t276) + dx_hand_model_B.t277) + dx_hand_model_B.t278) +
13572 dx_hand_model_B.dc0.re) - dx_hand_model_B.t4) - dx_hand_model_B.Switch) -
13573 dx_hand_model_B.t5) - dx_hand_model_B.t6) - dx_hand_model_B.t8) -
13574 dx_hand_model_B.t9) - dx_hand_model_B.t10) - dx_hand_model_B.t11) -
13575 dx_hand_model_B.t50_tmp_c) - dx_hand_model_B.t50_tmp_m) -
13576 dx_hand_model_B.t50_tmp_g1) - dx_hand_model_B.t50_tmp_n) -
13577 dx_hand_model_B.t50_tmp_l) - dx_hand_model_B.t50_tmp_pp) -
13578 dx_hand_model_B.t50_tmp_j) - dx_hand_model_B.t50_tmp_jz) -
13579 dx_hand_model_B.t50_tmp_fd) - dx_hand_model_B.t50_tmp_a) -
13580 dx_hand_model_B.t50_tmp_dy) - dx_hand_model_B.t50_tmp_da) -
13581 dx_hand_model_B.t50_tmp_ju) - dx_hand_model_B.t50_tmp_e)
13582 - dx_hand_model_B.t50_tmp_bjv) -
13583 dx_hand_model_B.t50_tmp_jz5) - dx_hand_model_B.t50_tmp_o4) -
13584 dx_hand_model_B.t50_tmp_o) - dx_hand_model_B.t50_tmp_lx) -
13585 dx_hand_model_B.t50_tmp_i) - dx_hand_model_B.t50_tmp_nu) -
13586 dx_hand_model_B.t50_tmp_bs) - dx_hand_model_B.t50_tmp_ln) -
13587 dx_hand_model_B.t50_tmp_ny) - dx_hand_model_B.t47_tmp) -
13588 dx_hand_model_B.t42_tmp_tmp) - dx_hand_model_B.t41_tmp) -
13589 dx_hand_model_B.t26_tmp) - dx_hand_model_B.t23_tmp) -
13590 dx_hand_model_B.t42_tmp) - dx_hand_model_B.t20_tmp) * dx_hand_model_B.t279;
13591 dx_hand_model_B.MCP_AA_s[0].im = dx_hand_model_B.t279 * dx_hand_model_B.dc0.im;
13592 dx_hand_model_B.MCP_AA_s[1].re =
13593 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
13594 (-dx_hand_model_B.t240 - dx_hand_model_B.t241) - dx_hand_model_B.t242) -
13595 dx_hand_model_B.t243) - dx_hand_model_B.t244) - dx_hand_model_B.t245) -
13596 dx_hand_model_B.t246) - dx_hand_model_B.t247) - dx_hand_model_B.t248) -
13597 dx_hand_model_B.t249) - dx_hand_model_B.t250) - dx_hand_model_B.t251) -
13598 dx_hand_model_B.t252) - dx_hand_model_B.t253) - dx_hand_model_B.t254) -
13599 dx_hand_model_B.t255) - dx_hand_model_B.t256) - dx_hand_model_B.t257) -
13600 dx_hand_model_B.t258) - dx_hand_model_B.t259) - dx_hand_model_B.t260) -
13601 dx_hand_model_B.t261) - dx_hand_model_B.t262) - dx_hand_model_B.t263) -
13602 dx_hand_model_B.t264) - dx_hand_model_B.t265) - dx_hand_model_B.t266) -
13603 dx_hand_model_B.t267) - dx_hand_model_B.t268) - dx_hand_model_B.t269) -
13604 dx_hand_model_B.t270) - dx_hand_model_B.t271) - dx_hand_model_B.t272) -
13605 dx_hand_model_B.t273) - dx_hand_model_B.t274) - dx_hand_model_B.t275) -
13606 dx_hand_model_B.t276) - dx_hand_model_B.t277) - dx_hand_model_B.t278) +
13607 dx_hand_model_B.dc1.re) + dx_hand_model_B.t4) + dx_hand_model_B.Switch) +
13608 dx_hand_model_B.t5) + dx_hand_model_B.t6) + dx_hand_model_B.t8) +
13609 dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +
13610 dx_hand_model_B.t50_tmp_c) + dx_hand_model_B.t50_tmp_m) +
13611 dx_hand_model_B.t50_tmp_g1) + dx_hand_model_B.t50_tmp_n) +
13612 dx_hand_model_B.t50_tmp_l) + dx_hand_model_B.t50_tmp_pp) +
13613 dx_hand_model_B.t50_tmp_j) + dx_hand_model_B.t50_tmp_jz) +
13614 dx_hand_model_B.t50_tmp_fd) + dx_hand_model_B.t50_tmp_a) +
13615 dx_hand_model_B.t50_tmp_dy) + dx_hand_model_B.t50_tmp_da) +
13616 dx_hand_model_B.t50_tmp_ju) + dx_hand_model_B.t50_tmp_e)
13617 + dx_hand_model_B.t50_tmp_bjv) +
13618 dx_hand_model_B.t50_tmp_jz5) + dx_hand_model_B.t50_tmp_o4) +
13619 dx_hand_model_B.t50_tmp_o) + dx_hand_model_B.t50_tmp_lx) +
13620 dx_hand_model_B.t50_tmp_i) + dx_hand_model_B.t50_tmp_nu) +
13621 dx_hand_model_B.t50_tmp_bs) + dx_hand_model_B.t50_tmp_ln) +
13622 dx_hand_model_B.t50_tmp_ny) + dx_hand_model_B.t47_tmp) +
13623 dx_hand_model_B.t42_tmp_tmp) + dx_hand_model_B.t41_tmp) +
13624 dx_hand_model_B.t26_tmp) + dx_hand_model_B.t23_tmp) +
13625 dx_hand_model_B.t42_tmp) + dx_hand_model_B.t20_tmp) *
13626 -dx_hand_model_B.t279;
13627 dx_hand_model_B.MCP_AA_s[1].im = -dx_hand_model_B.t279 *
13628 dx_hand_model_B.dc1.im;
13629 dx_hand_model_atan(dx_hand_model_B.MCP_AA_s);
13630
13631 /* DataTypeConversion: '<S233>/Data Type Conversion2' incorporates:
13632 * MATLAB Function: '<S233>/Mother of Kinematics'
13633 */
13634 dx_hand_model_B.DataTypeConversion2_mj[0] = (real32_T)
13635 (dx_hand_model_B.MCP_AA_s[0].re * 2.0);
13636
13637 /* MATLAB Function: '<S233>/Mother of Kinematics' */
13638 dx_hand_model_B.t20_tmp = dx_hand_model_B.MCP_AA_s[1].re * 2.0;
13639
13640 /* DataTypeConversion: '<S233>/Data Type Conversion2' */
13641 dx_hand_model_B.DataTypeConversion2_mj[1] = (real32_T)dx_hand_model_B.t20_tmp;
13642
13643 /* MATLAB Function: '<S233>/MATLAB Function5' incorporates:
13644 * DataTypeConversion: '<S279>/Data Type Conversion1'
13645 * DataTypeConversion: '<S280>/Data Type Conversion1'
13646 * DataTypeConversion: '<S281>/Data Type Conversion1'
13647 */
13648 dx_hand_m_MATLABFunction4_o((real32_T)dx_hand_model_B.RateTransition_nk,
13649 (real32_T)dx_hand_model_B.RateTransition_mpf, (real32_T)
13650 dx_hand_model_B.RateTransition_ko, &dx_hand_model_B.sf_MATLABFunction5_a);
13651
13652 /* MATLAB Function: '<S233>/MATLAB Function' incorporates:
13653 * DataTypeConversion: '<S233>/Data Type Conversion2'
13654 * DataTypeConversion: '<S283>/Data Type Conversion1'
13655 * DataTypeConversion: '<S285>/Data Type Conversion1'
13656 */
13657 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (real32_T)fabs((real_T)
13658 dx_hand_model_B.DataTypeConversion2_mj[0]);
13659 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (real32_T)fabs((real_T)
13660 (real32_T)dx_hand_model_B.t20_tmp);
13661 dx_hand_model_B.ixstart = 1;
13662 dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[0];
13663 dx_hand_model_B.k = 0;
13664 if (rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[0])) {
13665 dx_hand_model_B.ix = 2;
13666 exitg1 = false;
13667 while ((!exitg1) && (dx_hand_model_B.ix < 3)) {
13668 dx_hand_model_B.ixstart = 2;
13669 if (!rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[1])) {
13670 dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[1];
13671 dx_hand_model_B.k = 1;
13672 exitg1 = true;
13673 } else {
13674 dx_hand_model_B.ix = 3;
13675 }
13676 }
13677 }
13678
13679 if ((dx_hand_model_B.ixstart < 2) &&
13680 (dx_hand_model_B.TmpSignalConversionAtSFun_c[1] < dx_hand_model_B.t739)) {
13681 dx_hand_model_B.k = 1;
13682 }
13683
13684 dx_hand_model_B.Sum_nf = (real32_T)cos((real_T)
13685 dx_hand_model_B.DataTypeConversion2_mj[dx_hand_model_B.k]);
13686 dx_hand_model_B.DataTypeConversion5_n =
13687 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13688 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
13689 dx_hand_model_B.t7 = dx_hand_model_B.DataTypeConversion5_n * 6.12323426E-17F;
13690 dx_hand_model_B.t1309 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13691 dx_hand_model_B.t9_tmp;
13692 dx_hand_model_B.t8_h = dx_hand_model_B.t7 - dx_hand_model_B.t1309;
13693 dx_hand_model_B.t9_l = (real32_T)sin((real_T)
13694 dx_hand_model_B.DataTypeConversion2_mj[dx_hand_model_B.k]);
13695 dx_hand_model_B.t25_h = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13696 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
13697 dx_hand_model_B.t10_j = dx_hand_model_B.t25_h * 6.12323426E-17F;
13698 dx_hand_model_B.t9_tmp_n = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13699 dx_hand_model_B.t9_tmp;
13700 dx_hand_model_B.t12_o = dx_hand_model_B.t9_tmp_n * 3.74939939E-33F +
13701 (dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 + dx_hand_model_B.t10_j);
13702 dx_hand_model_B.t16_e = dx_hand_model_B.t9_tmp_n + dx_hand_model_B.t10_j;
13703 dx_hand_model_B.t18_h = dx_hand_model_B.t1309 * 3.74939939E-33F +
13704 (dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 - dx_hand_model_B.t7);
13705 dx_hand_model_B.t19_e = dx_hand_model_B.t9_tmp * 6.12323426E-17F;
13706 dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_kl * (real32_T)
13707 dx_hand_model_B.t3_tmp;
13708 dx_hand_model_B.t7 = (real32_T)dx_hand_model_B.RateTransition_kl * (real32_T)
13709 dx_hand_model_B.t7_tmp;
13710 dx_hand_model_B.t3 = (real32_T)dx_hand_model_B.RateTransition_nz *
13711 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;
13712
13713 /* ComplexToRealImag: '<S233>/Complex to Real-Imag' incorporates:
13714 * DataTypeConversion: '<S283>/Data Type Conversion1'
13715 * MATLAB Function: '<S233>/MATLAB Function'
13716 */
13717 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 = ((((((dx_hand_model_B.t9_tmp_n
13718 * 6.12323426E-17F + dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13719 -6.12323426E-17F) + dx_hand_model_B.t25_h) - dx_hand_model_B.t8_h *
13720 dx_hand_model_B.t9_l * 6.12323426E-17F) + dx_hand_model_B.Sum_nf *
13721 dx_hand_model_B.t12_o * 6.12323426E-17F) * dx_hand_model_B.t4_o +
13722 ((dx_hand_model_B.Sum_nf * dx_hand_model_B.t8_h + dx_hand_model_B.t9_l *
13723 dx_hand_model_B.t12_o) * dx_hand_model_B.t7 +
13724 dx_hand_model_B.sf_MATLABFunction5_a.x)) + dx_hand_model_B.t3 *
13725 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * 6.12323426E-17F) - (real32_T)
13726 dx_hand_model_B.RateTransition_nz *
13727 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * dx_hand_model_B.t9_tmp;
13728 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 =
13729 ((((((dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * 6.12323426E-17F +
13730 dx_hand_model_B.DataTypeConversion5_n) - dx_hand_model_B.t1309 *
13731 6.12323426E-17F) - dx_hand_model_B.Sum_nf * dx_hand_model_B.t18_h *
13732 6.12323426E-17F) + dx_hand_model_B.t9_l * dx_hand_model_B.t16_e *
13733 6.12323426E-17F) * dx_hand_model_B.t4_o +
13734 (dx_hand_model_B.sf_MATLABFunction5_a.y - (dx_hand_model_B.Sum_nf *
13735 dx_hand_model_B.t16_e + dx_hand_model_B.t9_l * dx_hand_model_B.t18_h) *
13736 dx_hand_model_B.t7)) - dx_hand_model_B.t3 * dx_hand_model_B.t9_tmp) -
13737 (real32_T)dx_hand_model_B.RateTransition_nz *
13738 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13739 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * 6.12323426E-17F;
13740 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 =
13741 ((dx_hand_model_B.sf_MATLABFunction5_a.z - (real32_T)
13742 dx_hand_model_B.RateTransition_nz *
13743 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2) - ((dx_hand_model_B.t19_e -
13744 6.12323426E-17F) * dx_hand_model_B.t9_l +
13745 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * dx_hand_model_B.Sum_nf) *
13746 dx_hand_model_B.t7) - (((dx_hand_model_B.t9_tmp -
13747 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * dx_hand_model_B.t9_l *
13748 6.12323426E-17F) + (dx_hand_model_B.t19_e - 6.12323426E-17F) *
13749 dx_hand_model_B.Sum_nf * 6.12323426E-17F) + 3.74939939E-33F) *
13750 dx_hand_model_B.t4_o;
13751
13752 /* RateTransition: '<S284>/Rate Transition' */
13753 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
13754 dx_hand_model_B.RateTransition_jz =
13755 dx_hand_model_DW.RateTransition_Buffer0_of;
13756 }
13757
13758 /* End of RateTransition: '<S284>/Rate Transition' */
13759
13760 /* MATLAB Function: '<S233>/Find K' incorporates:
13761 * ComplexToRealImag: '<S227>/Complex to Real-Imag10'
13762 * ComplexToRealImag: '<S227>/Complex to Real-Imag9'
13763 * DataTypeConversion: '<S284>/Data Type Conversion1'
13764 */
13765 dx_hand_model_B.DataTypeConversion5_n =
13766 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13767 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;
13768 dx_hand_model_B.t3 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13769 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;
13770 dx_hand_model_B.t4_o = dx_hand_model_B.ComplextoRealImag1_d[0] *
13771 dx_hand_model_B.ComplextoRealImag1_d[0];
13772 dx_hand_model_B.t1313 *= dx_hand_model_B.t1313;
13773 dx_hand_model_B.Sum_nf = dx_hand_model_B.ComplextoRealImag1_d[2] *
13774 dx_hand_model_B.ComplextoRealImag1_d[2];
13775 dx_hand_model_B.t7 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
13776 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
13777 dx_hand_model_B.t8_h = (real32_T)dx_hand_model_B.RateTransition_jz * (real32_T)
13778 dx_hand_model_B.RateTransition_jz;
13779 dx_hand_model_B.t9_tmp = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13780 dx_hand_model_B.ComplextoRealImag1_d[0];
13781 dx_hand_model_B.t9_tmp_n = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13782 dx_hand_model_B.ComplextoRealImag1_d[1];
13783 dx_hand_model_B.t9_tmp_d = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
13784 dx_hand_model_B.ComplextoRealImag1_d[2];
13785 dx_hand_model_B.t9_l = (((((((dx_hand_model_B.DataTypeConversion5_n +
13786 dx_hand_model_B.t3) + dx_hand_model_B.t4_o) + dx_hand_model_B.t1313) +
13787 dx_hand_model_B.Sum_nf) + dx_hand_model_B.t7) - dx_hand_model_B.t9_tmp *
13788 2.0F) - dx_hand_model_B.t9_tmp_n * 2.0F) - dx_hand_model_B.t9_tmp_d * 2.0F;
13789 dx_hand_model_B.t749 = dx_hand_model_B.ComplextoRealImag1_d[2] *
13790 dx_hand_model_B.DataTypeConversion5_n;
13791 dx_hand_model_B.t26_tmp_g = dx_hand_model_B.ComplextoRealImag1_d[2] *
13792 dx_hand_model_B.t3;
13793 dx_hand_model_B.t27_m = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
13794 dx_hand_model_B.Sum_nf * 2.0F;
13795 dx_hand_model_B.t28_h = dx_hand_model_B.ComplextoRealImag1_d[2] *
13796 dx_hand_model_B.t7;
13797 dx_hand_model_B.t29_c = dx_hand_model_B.ComplextoRealImag1_d[2] *
13798 dx_hand_model_B.t4_o;
13799 dx_hand_model_B.t30_k = dx_hand_model_B.ComplextoRealImag1_d[2] *
13800 dx_hand_model_B.t1313;
13801 dx_hand_model_B.t31_p = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
13802 dx_hand_model_B.t8_h;
13803 dx_hand_model_B.t32_p = dx_hand_model_B.ComplextoRealImag1_d[2] *
13804 dx_hand_model_B.t8_h;
13805 dx_hand_model_B.t33_tmp = dx_hand_model_B.t9_tmp *
13806 dx_hand_model_B.ComplextoRealImag1_d[2];
13807 dx_hand_model_B.t33_p = dx_hand_model_B.t33_tmp * 2.0F;
13808 dx_hand_model_B.t34_tmp = dx_hand_model_B.t9_tmp_n *
13809 dx_hand_model_B.ComplextoRealImag1_d[2];
13810 dx_hand_model_B.t34_a = dx_hand_model_B.t34_tmp * 2.0F;
13811 dx_hand_model_B.t1256_tmp = dx_hand_model_B.ComplextoRealImag1_d[2] *
13812 dx_hand_model_B.Sum_nf;
13813 dx_hand_model_B.t25_h = ((((((((dx_hand_model_B.t749 +
13814 dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)
13815 + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -
13816 dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a;
13817 dx_hand_model_B.t10_tmp = dx_hand_model_B.t25_h + dx_hand_model_B.t1256_tmp;
13818 dx_hand_model_B.t11_e = dx_hand_model_B.DataTypeConversion5_n *
13819 dx_hand_model_B.DataTypeConversion5_n;
13820 dx_hand_model_B.t12_o = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;
13821 dx_hand_model_B.t13_b = dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf;
13822 dx_hand_model_B.t14_a = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;
13823 dx_hand_model_B.t15_g = dx_hand_model_B.t3 * dx_hand_model_B.t3;
13824 dx_hand_model_B.t16_e = dx_hand_model_B.t7 * dx_hand_model_B.t7;
13825 dx_hand_model_B.t17_f = dx_hand_model_B.ComplextoRealImag_b[0] *
13826 dx_hand_model_B.ComplextoRealImag_b[0];
13827 dx_hand_model_B.t18_h = dx_hand_model_B.ComplextoRealImag_b[2] *
13828 dx_hand_model_B.ComplextoRealImag_b[2];
13829 dx_hand_model_B.t19_e = dx_hand_model_B.ComplextoRealImag_b[1] *
13830 dx_hand_model_B.ComplextoRealImag_b[1];
13831 dx_hand_model_B.t20_c = dx_hand_model_B.t8_h * dx_hand_model_B.t8_h;
13832 dx_hand_model_B.t24_a = 1.0F / (dx_hand_model_B.t9_l * dx_hand_model_B.t9_l);
13833 dx_hand_model_B.t1251 = dx_hand_model_B.DataTypeConversion5_n *
13834 dx_hand_model_B.t3;
13835 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t =
13836 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t7;
13837 dx_hand_model_B.t1261 = dx_hand_model_B.t3 * dx_hand_model_B.t7;
13838 dx_hand_model_B.t1212 = dx_hand_model_B.DataTypeConversion5_n *
13839 dx_hand_model_B.t4_o;
13840 dx_hand_model_B.t1328 = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;
13841 dx_hand_model_B.t739 = dx_hand_model_B.DataTypeConversion5_n *
13842 dx_hand_model_B.t1313;
13843 dx_hand_model_B.t750 = dx_hand_model_B.t3 * dx_hand_model_B.t1313;
13844 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o =
13845 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.Sum_nf;
13846 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;
13847 dx_hand_model_B.t752 = dx_hand_model_B.t4_o * dx_hand_model_B.t7;
13848 dx_hand_model_B.t754 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;
13849 dx_hand_model_B.t755 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;
13850 dx_hand_model_B.t761_re = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;
13851 dx_hand_model_B.t757_re = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;
13852 dx_hand_model_B.t760_re = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;
13853 dx_hand_model_B.t758_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13854 dx_hand_model_B.ComplextoRealImag_b[0];
13855 dx_hand_model_B.t759_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13856 dx_hand_model_B.ComplextoRealImag_b[1];
13857 dx_hand_model_B.t762_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
13858 dx_hand_model_B.ComplextoRealImag_b[2];
13859 dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.ComplextoRealImag1_d[0] *
13860 dx_hand_model_B.ComplextoRealImag_b[0];
13861 dx_hand_model_B.t804 = dx_hand_model_B.JTcomp_idx_3_tmp_c *
13862 dx_hand_model_B.DataTypeConversion5_n;
13863 dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.ComplextoRealImag1_d[1] *
13864 dx_hand_model_B.ComplextoRealImag_b[1];
13865 dx_hand_model_B.t803 = dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.t3;
13866 dx_hand_model_B.t835_re = dx_hand_model_B.ComplextoRealImag1_d[2] *
13867 dx_hand_model_B.ComplextoRealImag_b[2];
13868 dx_hand_model_B.t763_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13869 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;
13870 dx_hand_model_B.t10_j = dx_hand_model_B.t763_re *
13871 dx_hand_model_B.ComplextoRealImag1_d[0];
13872 dx_hand_model_B.t802 = dx_hand_model_B.t10_j *
13873 dx_hand_model_B.ComplextoRealImag_b[1];
13874 dx_hand_model_B.t767_re = dx_hand_model_B.t763_re *
13875 dx_hand_model_B.ComplextoRealImag1_d[1];
13876 dx_hand_model_B.t790 = dx_hand_model_B.t767_re *
13877 dx_hand_model_B.ComplextoRealImag_b[0];
13878 dx_hand_model_B.t765_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
13879 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
13880 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.t765_re *
13881 dx_hand_model_B.ComplextoRealImag1_d[0];
13882 dx_hand_model_B.t822 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
13883 dx_hand_model_B.ComplextoRealImag_b[2];
13884 dx_hand_model_B.t1309 = dx_hand_model_B.t765_re *
13885 dx_hand_model_B.ComplextoRealImag1_d[2];
13886 dx_hand_model_B.t836_re = dx_hand_model_B.t1309 *
13887 dx_hand_model_B.ComplextoRealImag_b[0];
13888 dx_hand_model_B.t764_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13889 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
13890 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t764_re *
13891 dx_hand_model_B.ComplextoRealImag1_d[1];
13892 dx_hand_model_B.t768_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
13893 dx_hand_model_B.ComplextoRealImag_b[2];
13894 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t764_re *
13895 dx_hand_model_B.ComplextoRealImag1_d[2];
13896 dx_hand_model_B.t769_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *
13897 dx_hand_model_B.ComplextoRealImag_b[1];
13898 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.t9_tmp *
13899 dx_hand_model_B.ComplextoRealImag1_d[1];
13900 dx_hand_model_B.t773_re = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
13901 dx_hand_model_B.ComplextoRealImag_b[1];
13902 dx_hand_model_B.t766_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
13903 dx_hand_model_B.ComplextoRealImag1_d[0];
13904 dx_hand_model_B.t794 = dx_hand_model_B.t766_re *
13905 dx_hand_model_B.ComplextoRealImag1_d[1];
13906 dx_hand_model_B.t771_re = dx_hand_model_B.t794 *
13907 dx_hand_model_B.ComplextoRealImag_b[0];
13908 dx_hand_model_B.t823 = dx_hand_model_B.t33_tmp *
13909 dx_hand_model_B.ComplextoRealImag_b[2];
13910 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.t9_tmp *
13911 dx_hand_model_B.t3;
13912 dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.t9_tmp_n *
13913 dx_hand_model_B.DataTypeConversion5_n;
13914 dx_hand_model_B.t837_re = dx_hand_model_B.t9_tmp_d *
13915 dx_hand_model_B.DataTypeConversion5_n;
13916 dx_hand_model_B.t838_re = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t3;
13917 dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.t758_re * dx_hand_model_B.t3;
13918 dx_hand_model_B.t824 = dx_hand_model_B.t759_re *
13919 dx_hand_model_B.DataTypeConversion5_n;
13920 dx_hand_model_B.t839_re = dx_hand_model_B.t762_re *
13921 dx_hand_model_B.DataTypeConversion5_n;
13922 dx_hand_model_B.t825 = dx_hand_model_B.t762_re * dx_hand_model_B.t3;
13923 dx_hand_model_B.t826_re = dx_hand_model_B.t758_re * dx_hand_model_B.t4_o;
13924 dx_hand_model_B.t840_re = dx_hand_model_B.t9_tmp * dx_hand_model_B.Sum_nf;
13925 dx_hand_model_B.t1226 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Sum_nf;
13926 dx_hand_model_B.t841_re = dx_hand_model_B.t759_re * dx_hand_model_B.t1313;
13927 dx_hand_model_B.t827_re = dx_hand_model_B.DataTypeConversion5_n *
13928 dx_hand_model_B.t13_b;
13929 dx_hand_model_B.t828_re = dx_hand_model_B.t3 * dx_hand_model_B.t13_b;
13930 dx_hand_model_B.t829_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t11_e;
13931 dx_hand_model_B.t830_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t15_g;
13932 dx_hand_model_B.t842_re = dx_hand_model_B.t836_re * dx_hand_model_B.Sum_nf;
13933 dx_hand_model_B.t831_re = dx_hand_model_B.t836_re *
13934 dx_hand_model_B.DataTypeConversion5_n;
13935 dx_hand_model_B.t843_re = dx_hand_model_B.t769_re * dx_hand_model_B.Sum_nf;
13936 dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.t769_re * dx_hand_model_B.t3;
13937 dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t823 * dx_hand_model_B.t4_o;
13938 dx_hand_model_B.tmp_tmp_jw = dx_hand_model_B.t837_re * dx_hand_model_B.t4_o;
13939 dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t838_re * dx_hand_model_B.t1313;
13940 dx_hand_model_B.tmp_tmp_ob = dx_hand_model_B.t835_re * dx_hand_model_B.t4_o;
13941 dx_hand_model_B.t775 = dx_hand_model_B.t835_re * dx_hand_model_B.t1313;
13942 dx_hand_model_B.t778 = dx_hand_model_B.t1251 * dx_hand_model_B.t4_o;
13943 dx_hand_model_B.t797 = dx_hand_model_B.t1251 * dx_hand_model_B.t1313;
13944 dx_hand_model_B.t796 = dx_hand_model_B.t1212 * dx_hand_model_B.Sum_nf;
13945 dx_hand_model_B.t770_re = dx_hand_model_B.t739 * dx_hand_model_B.Sum_nf;
13946 dx_hand_model_B.t772_re = dx_hand_model_B.t1328 * dx_hand_model_B.Sum_nf;
13947 dx_hand_model_B.t774 = dx_hand_model_B.t750 * dx_hand_model_B.Sum_nf;
13948 dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf;
13949 dx_hand_model_B.t777 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
13950 dx_hand_model_B.t7;
13951 dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t7;
13952 dx_hand_model_B.tmp_tmp_d4 = dx_hand_model_B.t1212 * dx_hand_model_B.t1313;
13953 dx_hand_model_B.tmp_tmp_ey = dx_hand_model_B.t1328 * dx_hand_model_B.t1313;
13954 dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.t757_re * dx_hand_model_B.t7;
13955 dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.t760_re * dx_hand_model_B.t7;
13956 dx_hand_model_B.t1248 = dx_hand_model_B.t802 * dx_hand_model_B.t4_o;
13957 dx_hand_model_B.t1250 = dx_hand_model_B.t790 * dx_hand_model_B.t1313;
13958 dx_hand_model_B.t1252 = dx_hand_model_B.t802 * dx_hand_model_B.t3;
13959 dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.t790 * dx_hand_model_B.t3;
13960 dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t802 *
13961 dx_hand_model_B.DataTypeConversion5_n;
13962 dx_hand_model_B.t1253 = dx_hand_model_B.t790 *
13963 dx_hand_model_B.DataTypeConversion5_n;
13964 dx_hand_model_B.t1254 = dx_hand_model_B.t822 * dx_hand_model_B.t4_o;
13965 dx_hand_model_B.t1255 = dx_hand_model_B.t822 *
13966 dx_hand_model_B.DataTypeConversion5_n;
13967 dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.t768_re * dx_hand_model_B.t1313;
13968 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t768_re *
13969 dx_hand_model_B.t3;
13970 dx_hand_model_B.t1312 = dx_hand_model_B.t773_re * dx_hand_model_B.t1313;
13971 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t773_re * dx_hand_model_B.t4_o;
13972 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t771_re *
13973 dx_hand_model_B.t1313;
13974 dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t771_re * dx_hand_model_B.t4_o;
13975 dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t773_re *
13976 dx_hand_model_B.DataTypeConversion5_n;
13977 dx_hand_model_B.t819 = dx_hand_model_B.t771_re * dx_hand_model_B.t3;
13978 dx_hand_model_B.t818 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
13979 dx_hand_model_B.t1313;
13980 dx_hand_model_B.t817 = dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t4_o;
13981 dx_hand_model_B.t814 = dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t4_o;
13982 dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t824 *
13983 dx_hand_model_B.t1313;
13984 dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t804 *
13985 dx_hand_model_B.t1313;
13986 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.t803 *
13987 dx_hand_model_B.t4_o;
13988 dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t1212 * dx_hand_model_B.t7;
13989 dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t750 * dx_hand_model_B.t7;
13990 dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t761_re * dx_hand_model_B.t7;
13991 dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t840_re * dx_hand_model_B.t7;
13992 dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t1226 * dx_hand_model_B.t7;
13993 dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t826_re * dx_hand_model_B.t7;
13994 dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.t841_re * dx_hand_model_B.t7;
13995 dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.t839_re * dx_hand_model_B.Sum_nf;
13996 dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.t825 * dx_hand_model_B.Sum_nf;
13997 dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.t804 * dx_hand_model_B.Sum_nf;
13998 dx_hand_model_B.t987_re = dx_hand_model_B.t803 * dx_hand_model_B.Sum_nf;
13999 dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_ob * dx_hand_model_B.t7;
14000 dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t775 * dx_hand_model_B.t7;
14001 dx_hand_model_B.t833_re = dx_hand_model_B.t823 * dx_hand_model_B.Sum_nf;
14002 dx_hand_model_B.tmp_tmp_tmp = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
14003 dx_hand_model_B.ComplextoRealImag1_d[0];
14004 dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp *
14005 dx_hand_model_B.ComplextoRealImag1_d[2];
14006 dx_hand_model_B.t821 = dx_hand_model_B.tmp_tmp_tmp_g *
14007 dx_hand_model_B.ComplextoRealImag_b[0];
14008 dx_hand_model_B.t834_re = dx_hand_model_B.t34_tmp *
14009 dx_hand_model_B.ComplextoRealImag_b[2];
14010 dx_hand_model_B.tmp_tmp_tmp_p = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
14011 dx_hand_model_B.ComplextoRealImag1_d[1];
14012 dx_hand_model_B.tmp_tmp_tmp_kn = dx_hand_model_B.tmp_tmp_tmp_p *
14013 dx_hand_model_B.ComplextoRealImag1_d[2];
14014 dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.tmp_tmp_tmp_kn *
14015 dx_hand_model_B.ComplextoRealImag_b[1];
14016 dx_hand_model_B.tmp_tmp_tmp_ok = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0
14017 * dx_hand_model_B.ComplextoRealImag1_d[1];
14018 dx_hand_model_B.tmp_tmp_tmp_ca = dx_hand_model_B.tmp_tmp_tmp_ok *
14019 dx_hand_model_B.ComplextoRealImag_b[0];
14020 dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.tmp_tmp_tmp_ca *
14021 dx_hand_model_B.ComplextoRealImag_b[1];
14022 dx_hand_model_B.tmp_tmp_tmp_ji = dx_hand_model_B.t766_re *
14023 dx_hand_model_B.ComplextoRealImag_b[0];
14024 dx_hand_model_B.t820 = dx_hand_model_B.tmp_tmp_tmp_ji *
14025 dx_hand_model_B.ComplextoRealImag_b[1];
14026 dx_hand_model_B.tmp_tmp_tmp_tmp =
14027 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
14028 dx_hand_model_B.ComplextoRealImag1_d[2];
14029 dx_hand_model_B.tmp_tmp_tmp_o = dx_hand_model_B.tmp_tmp_tmp_tmp *
14030 dx_hand_model_B.ComplextoRealImag_b[0];
14031 dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.tmp_tmp_tmp_o *
14032 dx_hand_model_B.ComplextoRealImag_b[2];
14033 dx_hand_model_B.tmp_tmp_tmp_py = dx_hand_model_B.tmp_tmp_tmp *
14034 dx_hand_model_B.ComplextoRealImag_b[0];
14035 dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.tmp_tmp_tmp_py *
14036 dx_hand_model_B.ComplextoRealImag_b[2];
14037 dx_hand_model_B.tmp_tmp_tmp_tmp_a =
14038 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
14039 dx_hand_model_B.ComplextoRealImag1_d[2];
14040 dx_hand_model_B.tmp_tmp_tmp_om = dx_hand_model_B.tmp_tmp_tmp_tmp_a *
14041 dx_hand_model_B.ComplextoRealImag_b[1];
14042 dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.tmp_tmp_tmp_om *
14043 dx_hand_model_B.ComplextoRealImag_b[2];
14044 dx_hand_model_B.tmp_tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_p *
14045 dx_hand_model_B.ComplextoRealImag_b[1];
14046 dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.tmp_tmp_tmp_cm *
14047 dx_hand_model_B.ComplextoRealImag_b[2];
14048 dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t10_j *
14049 dx_hand_model_B.ComplextoRealImag1_d[1];
14050 dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
14051 dx_hand_model_B.ComplextoRealImag1_d[2];
14052 dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
14053 dx_hand_model_B.ComplextoRealImag1_d[2];
14054 dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t763_re *
14055 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
14056 dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_tmp_c *
14057 dx_hand_model_B.ComplextoRealImag1_d[0];
14058 dx_hand_model_B.t815 = dx_hand_model_B.t9_tmp *
14059 dx_hand_model_B.DataTypeConversion5_n;
14060 dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t3;
14061 dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.t9_tmp * dx_hand_model_B.t4_o;
14062 dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1313;
14063 dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t758_re *
14064 dx_hand_model_B.DataTypeConversion5_n;
14065 dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.t759_re * dx_hand_model_B.t3;
14066 dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.JTcomp_idx_3_tmp_i *
14067 dx_hand_model_B.DataTypeConversion5_n;
14068 dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.JTcomp_idx_3_tmp_c *
14069 dx_hand_model_B.t3;
14070 dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t4_o;
14071 dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1313;
14072 dx_hand_model_B.t813 = dx_hand_model_B.t821 * dx_hand_model_B.t4_o;
14073 dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.t823 *
14074 dx_hand_model_B.DataTypeConversion5_n;
14075 dx_hand_model_B.t812 = dx_hand_model_B.t821 * dx_hand_model_B.Sum_nf;
14076 dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.t834_re * dx_hand_model_B.t1313;
14077 dx_hand_model_B.t810 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t1313;
14078 dx_hand_model_B.t808 = dx_hand_model_B.t834_re * dx_hand_model_B.t3;
14079 dx_hand_model_B.t776 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.Sum_nf;
14080 dx_hand_model_B.t779 = dx_hand_model_B.tmp_tmp_fx *
14081 dx_hand_model_B.DataTypeConversion5_n;
14082 dx_hand_model_B.t780 = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t3;
14083 dx_hand_model_B.t781 = dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t7;
14084 dx_hand_model_B.t782 = dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t7;
14085 dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.t837_re * dx_hand_model_B.Sum_nf;
14086 dx_hand_model_B.t785 = dx_hand_model_B.t838_re * dx_hand_model_B.Sum_nf;
14087 dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t815 * dx_hand_model_B.Sum_nf;
14088 dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.tmp_tmp_jp *
14089 dx_hand_model_B.Sum_nf;
14090 dx_hand_model_B.tmp_tmp_kv = dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t7;
14091 dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t7;
14092 dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.tmp_tmp_pr *
14093 dx_hand_model_B.Sum_nf;
14094 dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.JTcomp_idx_3_tmp_c *
14095 dx_hand_model_B.t4_o;
14096 dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_k *
14097 dx_hand_model_B.t7;
14098 dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.t836_re * dx_hand_model_B.t3;
14099 dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.t769_re *
14100 dx_hand_model_B.DataTypeConversion5_n;
14101 dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t836_re * dx_hand_model_B.t1313;
14102 dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.t823 *
14103 dx_hand_model_B.t3;
14104 dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.t821 * dx_hand_model_B.t3;
14105 dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t769_re *
14106 dx_hand_model_B.t4_o;
14107 dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t834_re *
14108 dx_hand_model_B.DataTypeConversion5_n;
14109 dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.tmp_tmp_n *
14110 dx_hand_model_B.DataTypeConversion5_n;
14111 dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t3;
14112 dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.tmp_tmp_fx *
14113 dx_hand_model_B.Sum_nf;
14114 dx_hand_model_B.xD1_tmp = dx_hand_model_B.tmp_tmp_nj *
14115 dx_hand_model_B.DataTypeConversion5_n;
14116 dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.tmp_tmp_nj *
14117 dx_hand_model_B.Sum_nf;
14118 dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.t823 * dx_hand_model_B.t1313;
14119 dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t821 * dx_hand_model_B.t1313;
14120 dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t834_re * dx_hand_model_B.t4_o;
14121 dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t4_o;
14122 dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t4_o;
14123 dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.tmp_tmp_cg *
14124 dx_hand_model_B.t1313;
14125 dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t820 *
14126 dx_hand_model_B.t4_o;
14127 dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.tmp_tmp_cg *
14128 dx_hand_model_B.DataTypeConversion5_n;
14129 dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.t820 * dx_hand_model_B.t3;
14130 dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.tmp_tmp_fx *
14131 dx_hand_model_B.t1313;
14132 dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.tmp_tmp_nj *
14133 dx_hand_model_B.t4_o;
14134 dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t4_o;
14135 dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.tmp_tmp_pm *
14136 dx_hand_model_B.Sum_nf;
14137 dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.tmp_tmp_nj *
14138 dx_hand_model_B.t1313;
14139 dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t1313;
14140 dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.tmp_tmp_k *
14141 dx_hand_model_B.Sum_nf;
14142 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_cq *
14143 dx_hand_model_B.ComplextoRealImag1_d[1];
14144 dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.tmp_tmp_tmp_j *
14145 dx_hand_model_B.ComplextoRealImag1_d[2];
14146 dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.tmp_tmp_tmp_c *
14147 dx_hand_model_B.ComplextoRealImag1_d[2] *
14148 dx_hand_model_B.ComplextoRealImag_b[0] *
14149 dx_hand_model_B.ComplextoRealImag_b[1];
14150 dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
14151 dx_hand_model_B.ComplextoRealImag1_d[2] *
14152 dx_hand_model_B.ComplextoRealImag_b[1] *
14153 dx_hand_model_B.ComplextoRealImag_b[2];
14154 dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t794 *
14155 dx_hand_model_B.ComplextoRealImag1_d[2] *
14156 dx_hand_model_B.ComplextoRealImag_b[0] *
14157 dx_hand_model_B.ComplextoRealImag_b[2];
14158 dx_hand_model_B.tmp_tmp_tmp_c1 = dx_hand_model_B.tmp_tmp_tmp *
14159 dx_hand_model_B.ComplextoRealImag1_d[1];
14160 dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.tmp_tmp_tmp_c1 *
14161 dx_hand_model_B.ComplextoRealImag1_d[2] *
14162 dx_hand_model_B.ComplextoRealImag_b[0] *
14163 dx_hand_model_B.ComplextoRealImag_b[1];
14164 dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.t802 * dx_hand_model_B.Sum_nf;
14165 dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.t790 * dx_hand_model_B.Sum_nf;
14166 dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.t822 * dx_hand_model_B.t3;
14167 dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.t768_re *
14168 dx_hand_model_B.DataTypeConversion5_n;
14169 dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.t773_re * dx_hand_model_B.Sum_nf;
14170 dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.t771_re * dx_hand_model_B.Sum_nf;
14171 dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.t822 * dx_hand_model_B.t1313;
14172 dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.t768_re * dx_hand_model_B.t4_o;
14173 dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.t820 *
14174 dx_hand_model_B.DataTypeConversion5_n;
14175 dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t3;
14176 dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.tmp_tmp_cg *
14177 dx_hand_model_B.Sum_nf;
14178 dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.t820 * dx_hand_model_B.Sum_nf;
14179 dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.tmp_tmp_pm *
14180 dx_hand_model_B.DataTypeConversion5_n;
14181 dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t3;
14182 dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.tmp_tmp_k *
14183 dx_hand_model_B.DataTypeConversion5_n;
14184 dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t3;
14185 dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.tmp_tmp_cg *
14186 dx_hand_model_B.t4_o;
14187 dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.t820 * dx_hand_model_B.t1313;
14188 dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.tmp_tmp_pm *
14189 dx_hand_model_B.t1313;
14190 dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t4_o;
14191 dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.t802 * dx_hand_model_B.t7;
14192 dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.t790 * dx_hand_model_B.t7;
14193 dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t7;
14194 dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.t820 * dx_hand_model_B.t7;
14195 dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_cq *
14196 dx_hand_model_B.ComplextoRealImag_b[1] *
14197 dx_hand_model_B.ComplextoRealImag_b[2];
14198 dx_hand_model_B.tmp_tmp_tmp_c *= dx_hand_model_B.ComplextoRealImag1_d[1];
14199 dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_tmp_c *
14200 dx_hand_model_B.ComplextoRealImag_b[0] *
14201 dx_hand_model_B.ComplextoRealImag_b[2];
14202 dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
14203 dx_hand_model_B.t4_o;
14204 dx_hand_model_B.tmp_tmp_mz = dx_hand_model_B.tmp_tmp_m1 *
14205 dx_hand_model_B.t1313;
14206 dx_hand_model_B.tmp_tmp_ez = dx_hand_model_B.t815 * dx_hand_model_B.t1313;
14207 dx_hand_model_B.tmp_tmp_izd = dx_hand_model_B.tmp_tmp_jp *
14208 dx_hand_model_B.t4_o;
14209 dx_hand_model_B.tmp_tmp_ge = dx_hand_model_B.tmp_tmp_pr *
14210 dx_hand_model_B.t1313;
14211 dx_hand_model_B.tmp_tmp_gbr = dx_hand_model_B.tmp_tmp_g4k *
14212 dx_hand_model_B.t4_o;
14213 dx_hand_model_B.tmp_tmp_kt = dx_hand_model_B.tmp_tmp_dx *
14214 dx_hand_model_B.t1313;
14215 dx_hand_model_B.tmp_tmp_ds = dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t4_o;
14216 dx_hand_model_B.tmp_tmp_el = dx_hand_model_B.t834_re * dx_hand_model_B.Sum_nf;
14217 dx_hand_model_B.tmp_tmp_dat = dx_hand_model_B.t821 * dx_hand_model_B.t7;
14218 dx_hand_model_B.tmp_tmp_hs = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t7;
14219 dx_hand_model_B.tmp_tmp_nhy = dx_hand_model_B.t773_re * dx_hand_model_B.t7;
14220 dx_hand_model_B.tmp_tmp_daj = dx_hand_model_B.t771_re * dx_hand_model_B.t7;
14221 dx_hand_model_B.tmp_tmp_bi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t7;
14222 dx_hand_model_B.tmp_tmp_bt = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t7;
14223 dx_hand_model_B.tmp_tmp_g4 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.Sum_nf;
14224 dx_hand_model_B.tmp_tmp_c3 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t7;
14225 dx_hand_model_B.tmp_tmp_if = dx_hand_model_B.t9_tmp * dx_hand_model_B.t7;
14226 dx_hand_model_B.tmp_tmp_lg = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t7;
14227 dx_hand_model_B.tmp_tmp_f1 = dx_hand_model_B.t835_re *
14228 dx_hand_model_B.DataTypeConversion5_n;
14229 dx_hand_model_B.tmp_tmp_db = dx_hand_model_B.t835_re * dx_hand_model_B.t3;
14230 dx_hand_model_B.tmp_tmp_jr = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1313;
14231 dx_hand_model_B.tmp_tmp_i3 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t4_o;
14232 dx_hand_model_B.tmp_tmp_h2 = dx_hand_model_B.t758_re * dx_hand_model_B.t1313;
14233 dx_hand_model_B.tmp_tmp_nm = dx_hand_model_B.t759_re * dx_hand_model_B.t4_o;
14234 dx_hand_model_B.tmp_tmp_ch = dx_hand_model_B.t762_re * dx_hand_model_B.t4_o;
14235 dx_hand_model_B.tmp_tmp_er = dx_hand_model_B.t762_re * dx_hand_model_B.t1313;
14236 dx_hand_model_B.tmp_tmp_tmp_al = dx_hand_model_B.t763_re *
14237 dx_hand_model_B.ComplextoRealImag_b[0];
14238 dx_hand_model_B.tmp_tmp_dd = dx_hand_model_B.tmp_tmp_tmp_al *
14239 dx_hand_model_B.ComplextoRealImag_b[1];
14240 dx_hand_model_B.tmp_tmp_tmp_oc = dx_hand_model_B.t765_re *
14241 dx_hand_model_B.ComplextoRealImag_b[0];
14242 dx_hand_model_B.tmp_tmp_ik = dx_hand_model_B.tmp_tmp_tmp_oc *
14243 dx_hand_model_B.ComplextoRealImag_b[2];
14244 dx_hand_model_B.tmp_tmp_tmp_ol = dx_hand_model_B.t764_re *
14245 dx_hand_model_B.ComplextoRealImag_b[1];
14246 dx_hand_model_B.tmp_tmp_gs = dx_hand_model_B.tmp_tmp_tmp_ol *
14247 dx_hand_model_B.ComplextoRealImag_b[2];
14248 dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.ComplextoRealImag1_d[0] *
14249 dx_hand_model_B.ComplextoRealImag1_d[1];
14250 dx_hand_model_B.tmp_tmp_tmp_d = dx_hand_model_B.tmp_tmp_tmp_o2 *
14251 dx_hand_model_B.ComplextoRealImag_b[0];
14252 dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.tmp_tmp_tmp_d *
14253 dx_hand_model_B.ComplextoRealImag_b[1];
14254 dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.ComplextoRealImag1_d[0] *
14255 dx_hand_model_B.ComplextoRealImag1_d[2];
14256 dx_hand_model_B.tmp_tmp_tmp_h = dx_hand_model_B.tmp_tmp_tmp_tmp_g *
14257 dx_hand_model_B.ComplextoRealImag_b[0];
14258 dx_hand_model_B.tmp_tmp_l0 = dx_hand_model_B.tmp_tmp_tmp_h *
14259 dx_hand_model_B.ComplextoRealImag_b[2];
14260 dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.ComplextoRealImag1_d[1] *
14261 dx_hand_model_B.ComplextoRealImag1_d[2];
14262 dx_hand_model_B.tmp_tmp_tmp_i = dx_hand_model_B.tmp_tmp_tmp_tmp_gy *
14263 dx_hand_model_B.ComplextoRealImag_b[1];
14264 dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.tmp_tmp_tmp_i *
14265 dx_hand_model_B.ComplextoRealImag_b[2];
14266 dx_hand_model_B.tmp_tmp_fq = dx_hand_model_B.tmp_tmp_f1 *
14267 dx_hand_model_B.Sum_nf;
14268 dx_hand_model_B.tmp_tmp_nl = dx_hand_model_B.tmp_tmp_d *
14269 dx_hand_model_B.Sum_nf;
14270 dx_hand_model_B.tmp_tmp_tmp_p5 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
14271 dx_hand_model_B.t1313;
14272 dx_hand_model_B.tmp_tmp_iu = dx_hand_model_B.tmp_tmp_tmp_p5 *
14273 dx_hand_model_B.t7;
14274 dx_hand_model_B.tmp_tmp_i3r = dx_hand_model_B.tmp_tmp_db *
14275 dx_hand_model_B.Sum_nf;
14276 dx_hand_model_B.tmp_tmp_il = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
14277 dx_hand_model_B.Sum_nf;
14278 dx_hand_model_B.tmp_tmp_fa = dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t7;
14279 dx_hand_model_B.tmp_tmp_ji = dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t7;
14280 dx_hand_model_B.tmp_tmp_oo = dx_hand_model_B.tmp_tmp_m1 *
14281 dx_hand_model_B.Sum_nf;
14282 dx_hand_model_B.tmp_tmp_fr = dx_hand_model_B.t804 * dx_hand_model_B.t7;
14283 dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.tmp_tmp_cx *
14284 dx_hand_model_B.Sum_nf;
14285 dx_hand_model_B.tmp_tmp_tmp_j5 = dx_hand_model_B.t758_re *
14286 dx_hand_model_B.Sum_nf;
14287 dx_hand_model_B.tmp_tmp_ln = dx_hand_model_B.tmp_tmp_tmp_j5 *
14288 dx_hand_model_B.t7;
14289 dx_hand_model_B.tmp_tmp_lu = dx_hand_model_B.t824 * dx_hand_model_B.Sum_nf;
14290 dx_hand_model_B.tmp_tmp_gf = dx_hand_model_B.t839_re * dx_hand_model_B.t4_o;
14291 dx_hand_model_B.tmp_tmp_dv = dx_hand_model_B.t839_re * dx_hand_model_B.t1313;
14292 dx_hand_model_B.tmp_tmp_jo = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t3;
14293 dx_hand_model_B.tmp_tmp_f1s = dx_hand_model_B.t825 * dx_hand_model_B.t4_o;
14294 dx_hand_model_B.tmp_tmp_js = dx_hand_model_B.t803 * dx_hand_model_B.t7;
14295 dx_hand_model_B.tmp_tmp_tmp_a = dx_hand_model_B.t759_re *
14296 dx_hand_model_B.Sum_nf;
14297 dx_hand_model_B.tmp_tmp_ho = dx_hand_model_B.tmp_tmp_tmp_a *
14298 dx_hand_model_B.t7;
14299 dx_hand_model_B.tmp_tmp_nu = dx_hand_model_B.t825 * dx_hand_model_B.t1313;
14300 dx_hand_model_B.tmp_tmp_ki = dx_hand_model_B.t826_re * dx_hand_model_B.Sum_nf;
14301 dx_hand_model_B.tmp_tmp_fn = dx_hand_model_B.tmp_tmp_h2 *
14302 dx_hand_model_B.Sum_nf;
14303 dx_hand_model_B.tmp_tmp_jz = dx_hand_model_B.tmp_tmp_g4k *
14304 dx_hand_model_B.Sum_nf;
14305 dx_hand_model_B.tmp_tmp_tmp_jd = dx_hand_model_B.JTcomp_idx_3_tmp_c *
14306 dx_hand_model_B.t1313;
14307 dx_hand_model_B.tmp_tmp_kl = dx_hand_model_B.tmp_tmp_tmp_jd *
14308 dx_hand_model_B.t7;
14309 dx_hand_model_B.tmp_tmp_bn = dx_hand_model_B.tmp_tmp_nm *
14310 dx_hand_model_B.Sum_nf;
14311 dx_hand_model_B.tmp_tmp_hm = dx_hand_model_B.tmp_tmp_dx *
14312 dx_hand_model_B.Sum_nf;
14313 dx_hand_model_B.tmp_tmp_eg = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t4_o;
14314 dx_hand_model_B.tmp_tmp_tmp_jk = dx_hand_model_B.JTcomp_idx_3_tmp_c *
14315 dx_hand_model_B.Sum_nf;
14316 dx_hand_model_B.tmp_tmp_hn = dx_hand_model_B.tmp_tmp_tmp_jk *
14317 dx_hand_model_B.t7;
14318 dx_hand_model_B.tmp_tmp_tmp_m = dx_hand_model_B.JTcomp_idx_3_tmp_i *
14319 dx_hand_model_B.t4_o;
14320 dx_hand_model_B.tmp_tmp_ku = dx_hand_model_B.tmp_tmp_tmp_m *
14321 dx_hand_model_B.t7;
14322 dx_hand_model_B.tmp_tmp_ooe = dx_hand_model_B.t841_re * dx_hand_model_B.Sum_nf;
14323 dx_hand_model_B.tmp_tmp_hw = dx_hand_model_B.tmp_tmp_ch *
14324 dx_hand_model_B.t1313;
14325 dx_hand_model_B.tmp_tmp_iy = dx_hand_model_B.tmp_tmp_f1 *
14326 dx_hand_model_B.t1313;
14327 dx_hand_model_B.tmp_tmp_pl = dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t4_o;
14328 dx_hand_model_B.tmp_tmp_f0 = dx_hand_model_B.tmp_tmp_ch *
14329 dx_hand_model_B.Sum_nf;
14330 dx_hand_model_B.tmp_tmp_nh = dx_hand_model_B.tmp_tmp_db *
14331 dx_hand_model_B.t1313;
14332 dx_hand_model_B.tmp_tmp_tmp_e = dx_hand_model_B.JTcomp_idx_3_tmp_i *
14333 dx_hand_model_B.Sum_nf;
14334 dx_hand_model_B.tmp_tmp_ho4 = dx_hand_model_B.tmp_tmp_tmp_e *
14335 dx_hand_model_B.t7;
14336 dx_hand_model_B.tmp_tmp_hpt = dx_hand_model_B.tmp_tmp_er *
14337 dx_hand_model_B.Sum_nf;
14338 dx_hand_model_B.tmp_tmp_f4 = dx_hand_model_B.tmp_tmp_oy *
14339 dx_hand_model_B.Sum_nf;
14340 dx_hand_model_B.t26_m = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.Sum_nf;
14341 dx_hand_model_B.tmp_tmp_ic = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t4_o;
14342 dx_hand_model_B.tmp_tmp_h5 = dx_hand_model_B.tmp_tmp_oy *
14343 dx_hand_model_B.DataTypeConversion5_n;
14344 dx_hand_model_B.tmp_tmp_mg = dx_hand_model_B.tmp_tmp_gg *
14345 dx_hand_model_B.t1313;
14346 dx_hand_model_B.tmp_tmp_gm = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t3;
14347 dx_hand_model_B.tmp_tmp_lf = dx_hand_model_B.tmp_tmp_ik *
14348 dx_hand_model_B.DataTypeConversion5_n;
14349 dx_hand_model_B.tmp_tmp_m4 = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t3;
14350 dx_hand_model_B.tmp_tmp_nt = dx_hand_model_B.tmp_tmp_l0 *
14351 dx_hand_model_B.Sum_nf;
14352 dx_hand_model_B.tmp_tmp_gv = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t4_o;
14353 dx_hand_model_B.tmp_tmp_dj = dx_hand_model_B.tmp_tmp_ce *
14354 dx_hand_model_B.Sum_nf;
14355 dx_hand_model_B.tmp_tmp_mq = dx_hand_model_B.tmp_tmp_ce *
14356 dx_hand_model_B.t1313;
14357 dx_hand_model_B.tmp_tmp_e0 = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t3;
14358 dx_hand_model_B.tmp_tmp_j0 = dx_hand_model_B.tmp_tmp_gg *
14359 dx_hand_model_B.DataTypeConversion5_n;
14360 dx_hand_model_B.tmp_tmp_m3r = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t3;
14361 dx_hand_model_B.tmp_tmp_otc = dx_hand_model_B.t837_re * dx_hand_model_B.t1313;
14362 dx_hand_model_B.tmp_tmp_gz = dx_hand_model_B.t838_re * dx_hand_model_B.t4_o;
14363 dx_hand_model_B.tmp_tmp_fto = dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t7;
14364 dx_hand_model_B.tmp_tmp_ci = dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t7;
14365 dx_hand_model_B.tmp_tmp_np5 = dx_hand_model_B.tmp_tmp_n3 *
14366 dx_hand_model_B.t1313;
14367 dx_hand_model_B.tmp_tmp_j0o = dx_hand_model_B.tmp_tmp_n3 *
14368 dx_hand_model_B.t4_o;
14369 dx_hand_model_B.tmp_tmp_lc = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t3;
14370 dx_hand_model_B.tmp_tmp_phi = dx_hand_model_B.tmp_tmp_n3 *
14371 dx_hand_model_B.DataTypeConversion5_n;
14372 dx_hand_model_B.tmp_tmp_n3e = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t3;
14373 dx_hand_model_B.tmp_tmp_fni = dx_hand_model_B.tmp_tmp_dd *
14374 dx_hand_model_B.DataTypeConversion5_n;
14375 dx_hand_model_B.tmp_tmp_fxv = dx_hand_model_B.tmp_tmp_nn *
14376 dx_hand_model_B.t1313;
14377 dx_hand_model_B.tmp_tmp_i4x = dx_hand_model_B.tmp_tmp_nn *
14378 dx_hand_model_B.t4_o;
14379 dx_hand_model_B.tmp_tmp_nlw = dx_hand_model_B.t804 * dx_hand_model_B.t3;
14380 dx_hand_model_B.tmp_tmp_fj = dx_hand_model_B.tmp_tmp_cx *
14381 dx_hand_model_B.t1313;
14382 dx_hand_model_B.tmp_tmp_ay = dx_hand_model_B.t824 * dx_hand_model_B.t4_o;
14383 dx_hand_model_B.tmp_tmp_mu = dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t3;
14384 dx_hand_model_B.tmp_tmp_nh4 = dx_hand_model_B.t826_re * dx_hand_model_B.t1313;
14385 dx_hand_model_B.tmp_tmp_d4f = dx_hand_model_B.tmp_tmp_dx *
14386 dx_hand_model_B.t4_o;
14387 dx_hand_model_B.tmp_tmp_ky = dx_hand_model_B.tmp_tmp_g4k *
14388 dx_hand_model_B.t1313;
14389 dx_hand_model_B.tmp_tmp_cl = dx_hand_model_B.tmp_tmp_nm *
14390 dx_hand_model_B.t1313;
14391 dx_hand_model_B.tmp_tmp_nmz = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t7;
14392 dx_hand_model_B.tmp_tmp_ceo = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t7;
14393 dx_hand_model_B.tmp_tmp_nc = dx_hand_model_B.Sum_nf * dx_hand_model_B.t13_b;
14394 dx_hand_model_B.tmp_tmp_ph = dx_hand_model_B.t7 * dx_hand_model_B.t13_b;
14395 dx_hand_model_B.tmp_tmp_dk = dx_hand_model_B.Sum_nf * dx_hand_model_B.t16_e;
14396 dx_hand_model_B.tmp_tmp_oi = dx_hand_model_B.t4_o * dx_hand_model_B.t13_b;
14397 dx_hand_model_B.tmp_tmp_jrs = dx_hand_model_B.t1313 * dx_hand_model_B.t13_b;
14398 dx_hand_model_B.tmp_tmp_c2 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;
14399 dx_hand_model_B.tmp_tmp_hp = dx_hand_model_B.Sum_nf * dx_hand_model_B.t14_a;
14400 dx_hand_model_B.tmp_tmp_a4 = dx_hand_model_B.t762_re * dx_hand_model_B.t8_h;
14401 dx_hand_model_B.tmp_tmp_ow = dx_hand_model_B.t835_re * dx_hand_model_B.t8_h;
14402 dx_hand_model_B.tmp_tmp_l4 = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t8_h;
14403 dx_hand_model_B.tmp_tmp_k1 = dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t8_h;
14404 dx_hand_model_B.tmp_tmp_a0 = dx_hand_model_B.t761_re * dx_hand_model_B.Sum_nf;
14405 dx_hand_model_B.tmp_tmp_d42 = dx_hand_model_B.t837_re * dx_hand_model_B.t8_h;
14406 dx_hand_model_B.tmp_tmp_cf = dx_hand_model_B.t838_re * dx_hand_model_B.t8_h;
14407 dx_hand_model_B.tmp_tmp_av = dx_hand_model_B.t840_re * dx_hand_model_B.t8_h;
14408 dx_hand_model_B.tmp_tmp_jw4 = dx_hand_model_B.t1226 * dx_hand_model_B.t8_h;
14409 dx_hand_model_B.tmp_tmp_cs = dx_hand_model_B.tmp_tmp_o30 *
14410 dx_hand_model_B.t8_h;
14411 dx_hand_model_B.tmp_tmp_ew = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t8_h;
14412 dx_hand_model_B.tmp_tmp_fd = dx_hand_model_B.t822 * dx_hand_model_B.Sum_nf;
14413 dx_hand_model_B.tmp_tmp_ga = dx_hand_model_B.tmp_tmp_n3 *
14414 dx_hand_model_B.Sum_nf;
14415 dx_hand_model_B.tmp_tmp_g3 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
14416 dx_hand_model_B.ComplextoRealImag1_d[1];
14417 dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.t764_re *
14418 dx_hand_model_B.ComplextoRealImag1_d[0];
14419 dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_tmp_eb *
14420 dx_hand_model_B.ComplextoRealImag1_d[1];
14421 dx_hand_model_B.tmp_tmp_po = dx_hand_model_B.tmp_tmp_oy *
14422 dx_hand_model_B.t1313;
14423 dx_hand_model_B.tmp_tmp_ly = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t4_o;
14424 dx_hand_model_B.tmp_tmp_ld = dx_hand_model_B.t836_re * dx_hand_model_B.t4_o;
14425 dx_hand_model_B.tmp_tmp_hb = dx_hand_model_B.t821 *
14426 dx_hand_model_B.DataTypeConversion5_n;
14427 dx_hand_model_B.tmp_tmp_cg4 = dx_hand_model_B.t769_re * dx_hand_model_B.t1313;
14428 dx_hand_model_B.tmp_tmp_g0 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t3;
14429 dx_hand_model_B.tmp_tmp_nl2 = dx_hand_model_B.tmp_tmp_ik *
14430 dx_hand_model_B.Sum_nf;
14431 dx_hand_model_B.tmp_tmp_e2 = dx_hand_model_B.tmp_tmp_gs *
14432 dx_hand_model_B.Sum_nf;
14433 dx_hand_model_B.tmp_tmp_by = dx_hand_model_B.tmp_tmp_l0 *
14434 dx_hand_model_B.DataTypeConversion5_n;
14435 dx_hand_model_B.tmp_tmp_avh = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t3;
14436 dx_hand_model_B.tmp_tmp_i2 = dx_hand_model_B.tmp_tmp_ce *
14437 dx_hand_model_B.DataTypeConversion5_n;
14438 dx_hand_model_B.tmp_tmp_nqp = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t3;
14439 dx_hand_model_B.tmp_tmp_k3 = dx_hand_model_B.tmp_tmp_l0 *
14440 dx_hand_model_B.t1313;
14441 dx_hand_model_B.tmp_tmp_b0 = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t4_o;
14442 dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_cq *
14443 dx_hand_model_B.ComplextoRealImag1_d[2] *
14444 dx_hand_model_B.ComplextoRealImag_b[1];
14445 dx_hand_model_B.tmp_tmp_iee = dx_hand_model_B.tmp_tmp_tmp_c *
14446 dx_hand_model_B.ComplextoRealImag1_d[2] *
14447 dx_hand_model_B.ComplextoRealImag_b[0];
14448 dx_hand_model_B.tmp_tmp_bjy = dx_hand_model_B.tmp_tmp_n3 *
14449 dx_hand_model_B.ComplextoRealImag1_d[2] *
14450 dx_hand_model_B.ComplextoRealImag_b[2];
14451 dx_hand_model_B.tmp_tmp_oq = dx_hand_model_B.tmp_tmp_g3 *
14452 dx_hand_model_B.ComplextoRealImag1_d[2] *
14453 dx_hand_model_B.ComplextoRealImag_b[1];
14454 dx_hand_model_B.tmp_tmp_gsm = dx_hand_model_B.tmp_tmp_jzu *
14455 dx_hand_model_B.ComplextoRealImag1_d[2] *
14456 dx_hand_model_B.ComplextoRealImag_b[0];
14457 dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t10_j *
14458 dx_hand_model_B.ComplextoRealImag1_d[2];
14459 dx_hand_model_B.tmp_tmp_ed = dx_hand_model_B.tmp_tmp_tmp_c *
14460 dx_hand_model_B.ComplextoRealImag_b[1] *
14461 dx_hand_model_B.ComplextoRealImag_b[2];
14462 dx_hand_model_B.tmp_tmp_is = dx_hand_model_B.tmp_tmp_dd *
14463 dx_hand_model_B.Sum_nf;
14464 dx_hand_model_B.tmp_tmp_m5 = dx_hand_model_B.tmp_tmp_gs *
14465 dx_hand_model_B.DataTypeConversion5_n;
14466 dx_hand_model_B.tmp_tmp_dl = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t4_o;
14467 dx_hand_model_B.tmp_tmp_j4 = dx_hand_model_B.tmp_tmp_ik *
14468 dx_hand_model_B.t1313;
14469 dx_hand_model_B.tmp_tmp_pe = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t4_o;
14470 dx_hand_model_B.tmp_tmp_b4 = dx_hand_model_B.tmp_tmp_gs *
14471 dx_hand_model_B.t1313;
14472 dx_hand_model_B.tmp_tmp_pn1 = dx_hand_model_B.tmp_tmp_nn *
14473 dx_hand_model_B.Sum_nf;
14474 dx_hand_model_B.tmp_tmp_jkh = dx_hand_model_B.tmp_tmp_tmp_j *
14475 dx_hand_model_B.ComplextoRealImag_b[2];
14476 dx_hand_model_B.tmp_tmp_ko = dx_hand_model_B.t823 * dx_hand_model_B.t7;
14477 dx_hand_model_B.tmp_tmp_cg1 = dx_hand_model_B.t768_re * dx_hand_model_B.Sum_nf;
14478 dx_hand_model_B.tmp_tmp_j11 = dx_hand_model_B.t834_re * dx_hand_model_B.t7;
14479 dx_hand_model_B.tmp_tmp_an = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t7;
14480 dx_hand_model_B.tmp_tmp_aq = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t7;
14481 dx_hand_model_B.tmp_tmp_lgb = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t7;
14482 dx_hand_model_B.tmp_tmp_kb = dx_hand_model_B.t7 * dx_hand_model_B.t8_h;
14483 dx_hand_model_B.tmp_tmp_dr = dx_hand_model_B.Sum_nf * dx_hand_model_B.t8_h;
14484 dx_hand_model_B.tmp_tmp_np = dx_hand_model_B.t8_h * dx_hand_model_B.t13_b;
14485 dx_hand_model_B.tmp_tmp_hzv = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t13_b;
14486 dx_hand_model_B.tmp_tmp_iq = dx_hand_model_B.t835_re * dx_hand_model_B.Sum_nf;
14487 dx_hand_model_B.tmp_tmp_hj = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *
14488 dx_hand_model_B.t8_h;
14489 dx_hand_model_B.tmp_tmp_pn = dx_hand_model_B.xD1_tmp_tmp *
14490 dx_hand_model_B.t8_h;
14491 dx_hand_model_B.tmp_tmp_nk = dx_hand_model_B.t755 * dx_hand_model_B.t8_h;
14492 dx_hand_model_B.tmp_tmp_jza = dx_hand_model_B.t757_re * dx_hand_model_B.t8_h;
14493 dx_hand_model_B.tmp_tmp_ot = dx_hand_model_B.t760_re * dx_hand_model_B.t8_h;
14494 dx_hand_model_B.tmp_tmp_bj = dx_hand_model_B.t9_tmp * dx_hand_model_B.t13_b;
14495 dx_hand_model_B.tmp_tmp_i4 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t13_b;
14496 dx_hand_model_B.tmp_tmp_ng = dx_hand_model_B.t762_re * dx_hand_model_B.Sum_nf;
14497 dx_hand_model_B.tmp_tmp_ie = dx_hand_model_B.JTcomp_idx_3_tmp_c *
14498 dx_hand_model_B.t7;
14499 dx_hand_model_B.tmp_tmp_p3 = dx_hand_model_B.JTcomp_idx_3_tmp_i *
14500 dx_hand_model_B.t7;
14501 dx_hand_model_B.tmp_tmp_gb = dx_hand_model_B.tmp_tmp_kn *
14502 dx_hand_model_B.Sum_nf;
14503 dx_hand_model_B.tmp_tmp_ca = dx_hand_model_B.tmp_tmp_o30 *
14504 dx_hand_model_B.Sum_nf;
14505 dx_hand_model_B.tmp_tmp_pd = dx_hand_model_B.tmp_tmp_b *
14506 dx_hand_model_B.Sum_nf;
14507 dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.t767_re *
14508 dx_hand_model_B.ComplextoRealImag1_d[2];
14509 dx_hand_model_B.tmp_tmp_in = dx_hand_model_B.tmp_tmp_tmp_j *
14510 dx_hand_model_B.ComplextoRealImag_b[0] *
14511 dx_hand_model_B.ComplextoRealImag_b[2];
14512 dx_hand_model_B.tmp_tmp_n0 = dx_hand_model_B.tmp_tmp_g3 *
14513 dx_hand_model_B.ComplextoRealImag_b[1] *
14514 dx_hand_model_B.ComplextoRealImag_b[2];
14515 dx_hand_model_B.tmp_tmp_izy = dx_hand_model_B.tmp_tmp_jzu *
14516 dx_hand_model_B.ComplextoRealImag_b[0] *
14517 dx_hand_model_B.ComplextoRealImag_b[2];
14518 dx_hand_model_B.tmp_tmp_gr = dx_hand_model_B.tmp_tmp_mx *
14519 dx_hand_model_B.Sum_nf;
14520 dx_hand_model_B.tmp_tmp_gu = dx_hand_model_B.tmp_tmp_jr *
14521 dx_hand_model_B.Sum_nf;
14522 dx_hand_model_B.tmp_tmp_chk = dx_hand_model_B.tmp_tmp_i3 *
14523 dx_hand_model_B.Sum_nf;
14524 dx_hand_model_B.tmp_tmp_ih = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t8_h;
14525 dx_hand_model_B.tmp_tmp_no = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t8_h;
14526 dx_hand_model_B.tmp_tmp_fa5 = dx_hand_model_B.t790 * dx_hand_model_B.t4_o;
14527 dx_hand_model_B.tmp_tmp_eu = dx_hand_model_B.t771_re *
14528 dx_hand_model_B.DataTypeConversion5_n;
14529 dx_hand_model_B.tmp_tmp_inq = dx_hand_model_B.t802 * dx_hand_model_B.t1313;
14530 dx_hand_model_B.tmp_tmp_a0m = dx_hand_model_B.t773_re * dx_hand_model_B.t3;
14531 dx_hand_model_B.tmp_tmp_ldg = dx_hand_model_B.tmp_tmp_dd *
14532 dx_hand_model_B.t4_o;
14533 dx_hand_model_B.tmp_tmp_aiu = dx_hand_model_B.tmp_tmp_dd *
14534 dx_hand_model_B.t1313;
14535 dx_hand_model_B.tmp_tmp_iyd = dx_hand_model_B.tmp_tmp_nn *
14536 dx_hand_model_B.DataTypeConversion5_n;
14537 dx_hand_model_B.tmp_tmp_ok = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t3;
14538 dx_hand_model_B.tmp_tmp_b4z = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t7;
14539 dx_hand_model_B.tmp_tmp_tmp_b = dx_hand_model_B.t765_re *
14540 dx_hand_model_B.ComplextoRealImag1_d[1];
14541 dx_hand_model_B.tmp_tmp_i0 = dx_hand_model_B.tmp_tmp_tmp_b *
14542 dx_hand_model_B.ComplextoRealImag1_d[2] *
14543 dx_hand_model_B.ComplextoRealImag_b[0] *
14544 dx_hand_model_B.ComplextoRealImag_b[1];
14545 dx_hand_model_B.tmp_tmp_lgo = dx_hand_model_B.tmp_tmp_tmp_eb *
14546 dx_hand_model_B.ComplextoRealImag1_d[2] *
14547 dx_hand_model_B.ComplextoRealImag_b[0] *
14548 dx_hand_model_B.ComplextoRealImag_b[1];
14549 dx_hand_model_B.t1212 = 1.0F /
14550 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14551 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14552 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14553 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t812
14554 * 2.0F +
14555 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14556 ((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n
14557 * dx_hand_model_B.t14_a + dx_hand_model_B.t3 * dx_hand_model_B.t12_o) +
14558 dx_hand_model_B.t1313 * dx_hand_model_B.t11_e) + dx_hand_model_B.t4_o *
14559 dx_hand_model_B.t15_g) + dx_hand_model_B.t827_re) + dx_hand_model_B.t829_re)
14560 + dx_hand_model_B.t7 * dx_hand_model_B.t12_o) + dx_hand_model_B.t4_o *
14561 dx_hand_model_B.t16_e) + dx_hand_model_B.t828_re) + dx_hand_model_B.t7 *
14562 dx_hand_model_B.t14_a) + dx_hand_model_B.t830_re) + dx_hand_model_B.t1313 *
14563 dx_hand_model_B.t16_e) + dx_hand_model_B.t11_e * dx_hand_model_B.t19_e) +
14564 dx_hand_model_B.t15_g * dx_hand_model_B.t17_f) + dx_hand_model_B.t11_e *
14565 dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e * dx_hand_model_B.t17_f) +
14566 dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e *
14567 dx_hand_model_B.t19_e) + dx_hand_model_B.t12_o * dx_hand_model_B.t19_e) +
14568 dx_hand_model_B.t14_a * dx_hand_model_B.t17_f) + dx_hand_model_B.t12_o *
14569 dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b * dx_hand_model_B.t17_f) +
14570 dx_hand_model_B.t14_a * dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b *
14571 dx_hand_model_B.t19_e) + dx_hand_model_B.t778) + dx_hand_model_B.t797) +
14572 dx_hand_model_B.tmp_tmp_dn) + dx_hand_model_B.tmp_tmp_fc * 2.0F) +
14573 dx_hand_model_B.t739 * dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t1328 *
14574 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t777) +
14575 dx_hand_model_B.xD1_tmp_tmp_k) + dx_hand_model_B.tmp_tmp_al) +
14576 dx_hand_model_B.t1251 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 *
14577 dx_hand_model_B.t19_e) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
14578 dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 * dx_hand_model_B.t18_h *
14579 2.0F) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *
14580 dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t1261 *
14581 dx_hand_model_B.t17_f * 2.0F) +
14582 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t18_h) +
14583 dx_hand_model_B.t1261 * dx_hand_model_B.t19_e) + dx_hand_model_B.t1261 *
14584 dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_d4) + dx_hand_model_B.t796)
14585 + dx_hand_model_B.tmp_tmp_ey) + dx_hand_model_B.t770_re * 2.0F) +
14586 dx_hand_model_B.t772_re * 2.0F) + dx_hand_model_B.tmp_tmp_bf * 2.0F) +
14587 dx_hand_model_B.t774) + dx_hand_model_B.tmp_tmp_eh) +
14588 dx_hand_model_B.tmp_tmp_bs) + dx_hand_model_B.t1212 * dx_hand_model_B.t19_e *
14589 6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t17_f) +
14590 dx_hand_model_B.t1328 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1212 *
14591 dx_hand_model_B.t18_h * 6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t19_e)
14592 + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t17_f) +
14593 dx_hand_model_B.t1328 * dx_hand_model_B.t19_e) + dx_hand_model_B.t750 *
14594 dx_hand_model_B.t17_f * 6.0F) + dx_hand_model_B.t752 * dx_hand_model_B.t17_f)
14595 + dx_hand_model_B.t739 * dx_hand_model_B.t18_h * 2.0F) +
14596 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t19_e *
14597 2.0F) + dx_hand_model_B.t1328 * dx_hand_model_B.t18_h * 2.0F) +
14598 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t17_f * 2.0F) +
14599 dx_hand_model_B.t752 * dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t754 *
14600 dx_hand_model_B.t17_f * 2.0F) +
14601 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t18_h) +
14602 dx_hand_model_B.t750 * dx_hand_model_B.t18_h * 6.0F) +
14603 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t19_e) + dx_hand_model_B.t752 *
14604 dx_hand_model_B.t18_h) + dx_hand_model_B.t754 * dx_hand_model_B.t19_e) +
14605 dx_hand_model_B.t755 * dx_hand_model_B.t17_f * 6.0F) +
14606 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t18_h) + dx_hand_model_B.t754 *
14607 dx_hand_model_B.t18_h) + dx_hand_model_B.t755 * dx_hand_model_B.t19_e * 6.0F)
14608 + dx_hand_model_B.t761_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t761_re
14609 * dx_hand_model_B.t19_e) + dx_hand_model_B.t757_re * dx_hand_model_B.t17_f)
14610 + dx_hand_model_B.t761_re * dx_hand_model_B.t18_h * 2.0F) +
14611 dx_hand_model_B.t757_re * dx_hand_model_B.t19_e * 2.0F) +
14612 dx_hand_model_B.t760_re * dx_hand_model_B.t17_f * 2.0F) +
14613 dx_hand_model_B.t757_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t760_re *
14614 dx_hand_model_B.t19_e) + dx_hand_model_B.t760_re * dx_hand_model_B.t18_h) +
14615 dx_hand_model_B.t818 * 4.0F) + dx_hand_model_B.t817 * 4.0F) +
14616 dx_hand_model_B.tmp_tmp_m4e * 4.0F) + dx_hand_model_B.tmp_tmp_jw * 4.0F) +
14617 dx_hand_model_B.tmp_tmp_ktf * 4.0F) + dx_hand_model_B.tmp_tmp_pie * 4.0F) +
14618 dx_hand_model_B.t814 * 4.0F) + dx_hand_model_B.tmp_tmp_a0x * 4.0F) +
14619 dx_hand_model_B.JTcomp_idx_3_tmp_my * 4.0F) + dx_hand_model_B.tmp_tmp_jkx *
14620 4.0F) + dx_hand_model_B.tmp_tmp_kbp * 4.0F) + dx_hand_model_B.tmp_tmp_hj5 *
14621 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j * 4.0F) +
14622 dx_hand_model_B.tmp_tmp_d1 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
14623 4.0F) + dx_hand_model_B.t987_re * 4.0F) + dx_hand_model_B.t832_re * 4.0F) +
14624 dx_hand_model_B.tmp_tmp_j1 * 4.0F) + dx_hand_model_B.t1248 * 6.0F) +
14625 dx_hand_model_B.t1250 * 6.0F) + dx_hand_model_B.t1252 * 2.0F) +
14626 dx_hand_model_B.tmp_tmp_cy * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
14627 2.0F) + dx_hand_model_B.t1253 * 2.0F) + dx_hand_model_B.t1254 * 6.0F) +
14628 dx_hand_model_B.t842_re * 6.0F) + dx_hand_model_B.t822 * dx_hand_model_B.t7 *
14629 2.0F) + dx_hand_model_B.t836_re * dx_hand_model_B.t7 * 2.0F) +
14630 dx_hand_model_B.t1255 * 2.0F) + dx_hand_model_B.t831_re * 2.0F) +
14631 dx_hand_model_B.tmp_tmp_kq * 6.0F) + dx_hand_model_B.t843_re * 6.0F) +
14632 dx_hand_model_B.t768_re * dx_hand_model_B.t7 * 2.0F) +
14633 dx_hand_model_B.t769_re * dx_hand_model_B.t7 * 2.0F) +
14634 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * 2.0F) +
14635 dx_hand_model_B.tmp_tmp_da * 2.0F) + dx_hand_model_B.t1312 * 2.0F) +
14636 dx_hand_model_B.xD1_tmp_o * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
14637 2.0F) + dx_hand_model_B.tmp_tmp_be * 2.0F) + dx_hand_model_B.tmp_tmp_os *
14638 6.0F) + dx_hand_model_B.t819 * 6.0F) + dx_hand_model_B.t833_re * 2.0F) +
14639 dx_hand_model_B.tmp_tmp_c5 * 2.0F)) + dx_hand_model_B.t813 * 2.0F) +
14640 dx_hand_model_B.tmp_tmp_pw * 6.0F) + dx_hand_model_B.tmp_tmp_dat * 6.0F) +
14641 dx_hand_model_B.tmp_tmp_el * 2.0F) + dx_hand_model_B.tmp_tmp_pi * 2.0F) +
14642 dx_hand_model_B.t776 * 2.0F) + dx_hand_model_B.t810 * 2.0F) +
14643 dx_hand_model_B.t808 * 6.0F) + dx_hand_model_B.tmp_tmp_hs * 6.0F) +
14644 dx_hand_model_B.xD1_tmp_tmp_o * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_a *
14645 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_k * 2.0F) +
14646 dx_hand_model_B.JTcomp_idx_3_tmp_p * 2.0F) +
14647 dx_hand_model_B.JTcomp_idx_3_tmp_m * 2.0F) + dx_hand_model_B.tmp_tmp_hc *
14648 2.0F) + dx_hand_model_B.t779 * 2.0F) + dx_hand_model_B.tmp_tmp_pm *
14649 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.xD1_tmp_i * 2.0F) +
14650 dx_hand_model_B.tmp_tmp_li * 2.0F) + dx_hand_model_B.t780 * 2.0F) +
14651 dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t7 * 2.0F) +
14652 dx_hand_model_B.tmp_tmp_o4 * 2.0F) + dx_hand_model_B.tmp_tmp_frj * 2.0F) +
14653 dx_hand_model_B.tmp_tmp_ai * 2.0F) + dx_hand_model_B.tmp_tmp_fnt * 2.0F) +
14654 dx_hand_model_B.tmp_tmp_ji5 * 2.0F) + dx_hand_model_B.tmp_tmp_iv * 2.0F) +
14655 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t17_f * 4.0F) +
14656 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t19_e * 4.0F) +
14657 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t18_h * 8.0F) +
14658 dx_hand_model_B.tmp_tmp_mxd * 6.0F) + dx_hand_model_B.tmp_tmp_of * 6.0F) +
14659 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t17_f * 4.0F) +
14660 dx_hand_model_B.tmp_tmp_nhy * 6.0F) + dx_hand_model_B.tmp_tmp_daj * 6.0F) +
14661 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t19_e * 8.0F) +
14662 dx_hand_model_B.tmp_tmp_jy * 6.0F) + dx_hand_model_B.tmp_tmp_nnx * 6.0F) +
14663 dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 6.0F) +
14664 dx_hand_model_B.JTcomp_idx_3_tmp * 6.0F) + dx_hand_model_B.tmp_tmp_oy *
14665 dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_gg *
14666 dx_hand_model_B.t17_f * 8.0F) + dx_hand_model_B.tmp_tmp_jb * 6.0F) +
14667 dx_hand_model_B.JTcomp_idx_3_tmp_f * 6.0F) +
14668 dx_hand_model_B.JTcomp_idx_3_tmp_h * 6.0F) + dx_hand_model_B.tmp_tmp_he *
14669 6.0F) + dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t19_e * 4.0F) +
14670 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t18_h * 4.0F) +
14671 dx_hand_model_B.tmp_tmp_gi * 6.0F) + dx_hand_model_B.tmp_tmp_om * 6.0F) +
14672 dx_hand_model_B.tmp_tmp_axm * 2.0F) + dx_hand_model_B.tmp_tmp_hi * 2.0F) +
14673 dx_hand_model_B.tmp_tmp_a0g * 6.0F) + dx_hand_model_B.tmp_tmp_hz * 2.0F) +
14674 dx_hand_model_B.tmp_tmp_lua * 2.0F) + dx_hand_model_B.tmp_tmp_bi * 6.0F) +
14675 dx_hand_model_B.xD1_tmp * 2.0F) + dx_hand_model_B.tmp_tmp_jcs * 2.0F) +
14676 dx_hand_model_B.tmp_tmp_ib * 6.0F) + dx_hand_model_B.tmp_tmp_bt * 6.0F) +
14677 dx_hand_model_B.tmp_tmp_jkm * 2.0F) + dx_hand_model_B.tmp_tmp_ee * 2.0F) +
14678 dx_hand_model_B.tmp_tmp_nq * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_m * 2.0F) +
14679 dx_hand_model_B.xD1_tmp_p * 2.0F) + dx_hand_model_B.xD1_tmp_f * 2.0F) +
14680 dx_hand_model_B.tmp_tmp_mid * 6.0F) + dx_hand_model_B.tmp_tmp_ftf * 6.0F) +
14681 dx_hand_model_B.tmp_tmp_hm4 * 2.0F) + dx_hand_model_B.tmp_tmp_mi * 6.0F) +
14682 dx_hand_model_B.tmp_tmp_c2b * 2.0F) + dx_hand_model_B.tmp_tmp_kuk * 2.0F) +
14683 dx_hand_model_B.tmp_tmp_on * 2.0F) + dx_hand_model_B.tmp_tmp_jkf * 2.0F) +
14684 dx_hand_model_B.tmp_tmp_f2 * 6.0F) + dx_hand_model_B.tmp_tmp_iz5 * 2.0F) +
14685 dx_hand_model_B.tmp_tmp_dy * 6.0F) + dx_hand_model_B.tmp_tmp_kg * 6.0F) +
14686 dx_hand_model_B.tmp_tmp_jc * 4.0F) + dx_hand_model_B.tmp_tmp_cqr * 4.0F) +
14687 dx_hand_model_B.tmp_tmp_egf * 4.0F) + dx_hand_model_B.tmp_tmp_ft * 12.0F) +
14688 dx_hand_model_B.tmp_tmp_oc * 4.0F) + dx_hand_model_B.tmp_tmp_hnt * 4.0F) +
14689 dx_hand_model_B.tmp_tmp_gd * 4.0F) - dx_hand_model_B.t758_re *
14690 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *
14691 dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.t758_re *
14692 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t759_re *
14693 dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *
14694 dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *
14695 dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t759_re *
14696 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t762_re *
14697 dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.t835_re *
14698 dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *
14699 dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t762_re *
14700 dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t835_re *
14701 dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.tmp_tmp_og * 2.0F) -
14702 dx_hand_model_B.t781 * 2.0F) - dx_hand_model_B.tmp_tmp_mz * 2.0F) -
14703 dx_hand_model_B.t782 * 2.0F) - dx_hand_model_B.tmp_tmp_lm5 * 2.0F) -
14704 dx_hand_model_B.t785 * 2.0F) - dx_hand_model_B.tmp_tmp_ez * 2.0F) -
14705 dx_hand_model_B.xD1_tmp_tmp_i * 2.0F) - dx_hand_model_B.tmp_tmp_izd * 2.0F)
14706 - dx_hand_model_B.xD1_tmp_tmp_c * 2.0F) - dx_hand_model_B.tmp_tmp_kv * 2.0F)
14707 - dx_hand_model_B.tmp_tmp_jk * 2.0F) - dx_hand_model_B.tmp_tmp_kn *
14708 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t19_e
14709 * 4.0F) - dx_hand_model_B.tmp_tmp_ge * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *
14710 2.0F) - dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t18_h * 4.0F) -
14711 dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t17_f * 4.0F) -
14712 dx_hand_model_B.tmp_tmp_kt * 2.0F) - dx_hand_model_B.t815 *
14713 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_fz * 2.0F) -
14714 dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t17_f * 4.0F) -
14715 dx_hand_model_B.tmp_tmp_ds * 2.0F) - dx_hand_model_B.tmp_tmp_cm * 2.0F) -
14716 dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t18_h * 4.0F) -
14717 dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t17_f * 4.0F) -
14718 dx_hand_model_B.tmp_tmp_fq * 2.0F) - dx_hand_model_B.tmp_tmp_jp *
14719 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_nl * 2.0F) -
14720 dx_hand_model_B.tmp_tmp_iu * 2.0F) - dx_hand_model_B.tmp_tmp_c3 *
14721 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ch *
14722 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_g4 *
14723 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_i3r * 2.0F) -
14724 dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t19_e * 4.0F) -
14725 dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t7 * 2.0F) -
14726 dx_hand_model_B.tmp_tmp_il * 2.0F) - dx_hand_model_B.tmp_tmp_fa * 2.0F) -
14727 dx_hand_model_B.tmp_tmp_ji * 2.0F) - dx_hand_model_B.tmp_tmp_oo * 2.0F) -
14728 dx_hand_model_B.tmp_tmp_otc * 2.0F) - dx_hand_model_B.tmp_tmp_gz * 2.0F) -
14729 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t17_f * 2.0F) -
14730 dx_hand_model_B.tmp_tmp_nlw * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *
14731 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_fj * 6.0F) -
14732 dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t17_f * 2.0F) -
14733 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t17_f * 2.0F) -
14734 dx_hand_model_B.tmp_tmp_ay * 6.0F) - dx_hand_model_B.tmp_tmp_fr * 2.0F) -
14735 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t18_h * 4.0F) -
14736 dx_hand_model_B.tmp_tmp_oyy * 2.0F) - dx_hand_model_B.tmp_tmp_if *
14737 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fto * 2.0F) -
14738 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t19_e * 2.0F) -
14739 dx_hand_model_B.tmp_tmp_mu * 2.0F) - dx_hand_model_B.tmp_tmp_g4k *
14740 dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_if *
14741 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ln * 6.0F) -
14742 dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t17_f * 4.0F) -
14743 dx_hand_model_B.tmp_tmp_ci * 2.0F) - dx_hand_model_B.tmp_tmp_m1 *
14744 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_lu * 2.0F) -
14745 dx_hand_model_B.t837_re * dx_hand_model_B.t17_f * 2.0F) -
14746 dx_hand_model_B.tmp_tmp_gf * 6.0F) - dx_hand_model_B.tmp_tmp_dx *
14747 dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_lg *
14748 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t837_re *
14749 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_dv * 2.0F) -
14750 dx_hand_model_B.tmp_tmp_jo * 4.0F) - dx_hand_model_B.t838_re *
14751 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_f1s * 2.0F) -
14752 dx_hand_model_B.tmp_tmp_js * 2.0F) - dx_hand_model_B.tmp_tmp_lg *
14753 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ho * 6.0F) -
14754 dx_hand_model_B.t837_re * dx_hand_model_B.t18_h * 2.0F) -
14755 dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t7 * 2.0F) -
14756 dx_hand_model_B.t838_re * dx_hand_model_B.t19_e * 2.0F) -
14757 dx_hand_model_B.tmp_tmp_nu * 6.0F) - dx_hand_model_B.t838_re *
14758 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_db *
14759 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_jr *
14760 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_nh4 * 2.0F) -
14761 dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t19_e * 2.0F) -
14762 dx_hand_model_B.t840_re * dx_hand_model_B.t17_f * 2.0F) -
14763 dx_hand_model_B.tmp_tmp_ki * 2.0F) - dx_hand_model_B.tmp_tmp_i3 *
14764 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_d4f * 6.0F) -
14765 dx_hand_model_B.tmp_tmp_ky * 6.0F) - dx_hand_model_B.tmp_tmp_jr *
14766 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.t840_re *
14767 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fn * 4.0F) -
14768 dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t19_e * 2.0F) -
14769 dx_hand_model_B.tmp_tmp_cl * 2.0F) - dx_hand_model_B.tmp_tmp_jz * 2.0F) -
14770 dx_hand_model_B.tmp_tmp_kl * 2.0F) - dx_hand_model_B.t840_re *
14771 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1226 *
14772 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_i3 *
14773 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_bn * 4.0F) -
14774 dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t17_f * 2.0F) -
14775 dx_hand_model_B.tmp_tmp_hm * 2.0F) - dx_hand_model_B.tmp_tmp_eg * 6.0F) -
14776 dx_hand_model_B.tmp_tmp_hn * 6.0F) - dx_hand_model_B.tmp_tmp_ku * 2.0F) -
14777 dx_hand_model_B.t1226 * dx_hand_model_B.t19_e * 2.0F) -
14778 dx_hand_model_B.tmp_tmp_ooe * 2.0F) - dx_hand_model_B.tmp_tmp_o30 *
14779 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_hw * 4.0F) -
14780 dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t17_f * 4.0F) -
14781 dx_hand_model_B.tmp_tmp_iy * 2.0F) - dx_hand_model_B.tmp_tmp_pl * 2.0F) -
14782 dx_hand_model_B.t1226 * dx_hand_model_B.t18_h * 2.0F) -
14783 dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t18_h * 2.0F) -
14784 dx_hand_model_B.tmp_tmp_f0 * 2.0F) - dx_hand_model_B.tmp_tmp_b *
14785 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_nh * 6.0F) -
14786 dx_hand_model_B.tmp_tmp_ho4 * 6.0F) - dx_hand_model_B.tmp_tmp_b *
14787 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hpt * 2.0F) -
14788 dx_hand_model_B.tmp_tmp_np5 * 2.0F) - dx_hand_model_B.tmp_tmp_j0o * 2.0F) -
14789 dx_hand_model_B.tmp_tmp_lc * 2.0F) - dx_hand_model_B.tmp_tmp_phi * 2.0F) -
14790 dx_hand_model_B.tmp_tmp_f4 * 2.0F) - dx_hand_model_B.tmp_tmp_ic * 2.0F) -
14791 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t7 * 2.0F) -
14792 dx_hand_model_B.tmp_tmp_h5 * 2.0F) - dx_hand_model_B.t26_m * 2.0F) -
14793 dx_hand_model_B.tmp_tmp_mg * 2.0F) - dx_hand_model_B.tmp_tmp_gg *
14794 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_gm * 2.0F) -
14795 dx_hand_model_B.tmp_tmp_n3e * 2.0F) - dx_hand_model_B.tmp_tmp_fni * 2.0F) -
14796 dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t7 * 2.0F) -
14797 dx_hand_model_B.tmp_tmp_lf * 2.0F) - dx_hand_model_B.tmp_tmp_gs *
14798 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_m4 * 2.0F) -
14799 dx_hand_model_B.tmp_tmp_fxv * 2.0F) - dx_hand_model_B.tmp_tmp_i4x * 2.0F) -
14800 dx_hand_model_B.tmp_tmp_nt * 2.0F) - dx_hand_model_B.tmp_tmp_gv * 2.0F) -
14801 dx_hand_model_B.tmp_tmp_dj * 2.0F) - dx_hand_model_B.tmp_tmp_mq * 2.0F) -
14802 dx_hand_model_B.tmp_tmp_nmz * 2.0F) - dx_hand_model_B.tmp_tmp_e0 * 2.0F) -
14803 dx_hand_model_B.tmp_tmp_j0 * 2.0F) - dx_hand_model_B.tmp_tmp_ceo * 2.0F) -
14804 dx_hand_model_B.tmp_tmp_m3r * 2.0F) - dx_hand_model_B.tmp_tmp_m5 * 2.0F) -
14805 dx_hand_model_B.tmp_tmp_ga * 2.0F) - dx_hand_model_B.tmp_tmp_po * 2.0F) -
14806 dx_hand_model_B.tmp_tmp_ly * 2.0F) - dx_hand_model_B.tmp_tmp_fa5 * 2.0F) -
14807 dx_hand_model_B.tmp_tmp_eu * 2.0F) - dx_hand_model_B.tmp_tmp_inq * 2.0F) -
14808 dx_hand_model_B.tmp_tmp_a0m * 2.0F) - dx_hand_model_B.tmp_tmp_ld * 2.0F) -
14809 dx_hand_model_B.tmp_tmp_hb * 2.0F) - dx_hand_model_B.tmp_tmp_fd * 2.0F) -
14810 dx_hand_model_B.tmp_tmp_ko * 2.0F) - dx_hand_model_B.tmp_tmp_cg4 * 2.0F) -
14811 dx_hand_model_B.tmp_tmp_g0 * 2.0F) - dx_hand_model_B.tmp_tmp_cg1 * 2.0F) -
14812 dx_hand_model_B.tmp_tmp_j11 * 2.0F) - dx_hand_model_B.tmp_tmp_ldg * 6.0F) -
14813 dx_hand_model_B.tmp_tmp_aiu * 6.0F) - dx_hand_model_B.tmp_tmp_is * 2.0F) -
14814 dx_hand_model_B.tmp_tmp_dl * 6.0F) - dx_hand_model_B.tmp_tmp_j4 * 2.0F) -
14815 dx_hand_model_B.tmp_tmp_nl2 * 6.0F) - dx_hand_model_B.tmp_tmp_pe * 2.0F) -
14816 dx_hand_model_B.tmp_tmp_b4 * 6.0F) - dx_hand_model_B.tmp_tmp_e2 * 6.0F) -
14817 dx_hand_model_B.tmp_tmp_iyd * 6.0F) - dx_hand_model_B.tmp_tmp_ok * 6.0F) -
14818 dx_hand_model_B.tmp_tmp_by * 6.0F) - dx_hand_model_B.tmp_tmp_b4z * 2.0F) -
14819 dx_hand_model_B.tmp_tmp_avh * 2.0F) - dx_hand_model_B.tmp_tmp_i2 * 2.0F) -
14820 dx_hand_model_B.tmp_tmp_an * 6.0F) -
14821 dx_hand_model_B.tmp_tmp_nqp * 6.0F) -
14822 dx_hand_model_B.tmp_tmp_aq * 6.0F) -
14823 dx_hand_model_B.tmp_tmp_pn1 * 2.0F) -
14824 dx_hand_model_B.tmp_tmp_k3 * 2.0F) -
14825 dx_hand_model_B.tmp_tmp_b0 * 2.0F) -
14826 dx_hand_model_B.tmp_tmp_jkh * 8.0F) - dx_hand_model_B.tmp_tmp_cq
14827 * 8.0F) - dx_hand_model_B.tmp_tmp_iee * 8.0F) -
14828 dx_hand_model_B.tmp_tmp_bjy * 8.0F) - dx_hand_model_B.tmp_tmp_oq *
14829 8.0F) - dx_hand_model_B.tmp_tmp_gsm * 8.0F) -
14830 dx_hand_model_B.tmp_tmp_ed * 4.0F) - dx_hand_model_B.tmp_tmp_in * 4.0F)
14831 - dx_hand_model_B.tmp_tmp_n0 * 4.0F) - dx_hand_model_B.tmp_tmp_i0 * 4.0F)
14832 - dx_hand_model_B.tmp_tmp_izy * 4.0F) - dx_hand_model_B.tmp_tmp_lgo * 4.0F)
14833 * (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14834 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14835 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14836 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14837 ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_in
14838 * dx_hand_model_B.t8_h * 4.0F +
14839 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14840 (((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1255 *
14841 dx_hand_model_B.Sum_nf * 2.0F +
14842 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14843 ((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t777 *
14844 dx_hand_model_B.t17_f +
14845 (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
14846 (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o
14847 * dx_hand_model_B.t13_b + dx_hand_model_B.t11_e * dx_hand_model_B.t13_b) +
14848 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t13_b) + dx_hand_model_B.t13_b
14849 * dx_hand_model_B.t15_g) + dx_hand_model_B.tmp_tmp_nc *
14850 dx_hand_model_B.t17_f) + dx_hand_model_B.tmp_tmp_nc * dx_hand_model_B.t19_e)
14851 + dx_hand_model_B.t1251 * dx_hand_model_B.t13_b * 2.0F) +
14852 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t13_b) +
14853 dx_hand_model_B.t1261 * dx_hand_model_B.t13_b) + dx_hand_model_B.t1212 *
14854 dx_hand_model_B.t13_b) + dx_hand_model_B.t739 * dx_hand_model_B.t13_b * 2.0F)
14855 + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t14_a) +
14856 dx_hand_model_B.t1328 * dx_hand_model_B.t13_b * 2.0F) +
14857 dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t12_o) +
14858 dx_hand_model_B.t760_re * dx_hand_model_B.t11_e) + dx_hand_model_B.t757_re *
14859 dx_hand_model_B.t15_g) + dx_hand_model_B.t750 * dx_hand_model_B.t13_b) +
14860 dx_hand_model_B.t752 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *
14861 dx_hand_model_B.t12_o) + dx_hand_model_B.t757_re * dx_hand_model_B.t16_e) +
14862 dx_hand_model_B.t754 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *
14863 dx_hand_model_B.t14_a) + dx_hand_model_B.t760_re * dx_hand_model_B.t16_e) +
14864 dx_hand_model_B.t827_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t827_re *
14865 dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t828_re *
14866 dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t829_re *
14867 dx_hand_model_B.t19_e) + dx_hand_model_B.t830_re * dx_hand_model_B.t17_f) +
14868 dx_hand_model_B.t827_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t828_re *
14869 dx_hand_model_B.t19_e) + dx_hand_model_B.t829_re * dx_hand_model_B.t18_h) +
14870 dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t17_f * 6.0F) +
14871 dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t17_f) +
14872 dx_hand_model_B.t828_re * dx_hand_model_B.t18_h) +
14873 dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t19_e * 6.0F) +
14874 dx_hand_model_B.t830_re * dx_hand_model_B.t18_h) +
14875 dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t19_e) +
14876 dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t17_f) +
14877 dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t19_e * 2.0F) +
14878 dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t17_f * 2.0F) +
14879 dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t19_e) +
14880 dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t17_f) +
14881 dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t18_h) +
14882 dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t19_e) +
14883 dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t18_h) +
14884 dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t18_h) +
14885 dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t18_h) +
14886 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t20_c) +
14887 dx_hand_model_B.t752 * dx_hand_model_B.t20_c) + dx_hand_model_B.xD1_tmp_tmp *
14888 dx_hand_model_B.t20_c) + dx_hand_model_B.t754 * dx_hand_model_B.t20_c) +
14889 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t18_h *
14890 dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t17_f *
14891 dx_hand_model_B.t20_c) + dx_hand_model_B.t3 * dx_hand_model_B.t18_h *
14892 dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t19_e *
14893 dx_hand_model_B.t20_c) + dx_hand_model_B.t4_o * dx_hand_model_B.t18_h *
14894 dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t17_f *
14895 dx_hand_model_B.t20_c) + dx_hand_model_B.t1313 * dx_hand_model_B.t18_h *
14896 dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t19_e *
14897 dx_hand_model_B.t20_c) + dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t13_b *
14898 4.0F) + dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t13_b * 4.0F) +
14899 dx_hand_model_B.t842_re * dx_hand_model_B.t7 * 2.0F) +
14900 dx_hand_model_B.t831_re * dx_hand_model_B.Sum_nf * 2.0F) +
14901 dx_hand_model_B.t843_re * dx_hand_model_B.t7 * 2.0F) +
14902 dx_hand_model_B.t839_re * dx_hand_model_B.t13_b * 4.0F) +
14903 dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.Sum_nf * 2.0F) +
14904 dx_hand_model_B.t825 * dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.t804 *
14905 dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_c5 *
14906 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t813 *
14907 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_pw *
14908 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t812 * dx_hand_model_B.t7 *
14909 6.0F) + dx_hand_model_B.t803 * dx_hand_model_B.t13_b * 4.0F) +
14910 dx_hand_model_B.tmp_tmp_pi * dx_hand_model_B.Sum_nf * 2.0F) +
14911 dx_hand_model_B.t810 * dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t808
14912 * dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t776 * dx_hand_model_B.t7
14913 * 6.0F) + dx_hand_model_B.t779 * dx_hand_model_B.Sum_nf * 2.0F) +
14914 dx_hand_model_B.t780 * dx_hand_model_B.Sum_nf * 2.0F) +
14915 dx_hand_model_B.t758_re * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b *
14916 4.0F) + dx_hand_model_B.t759_re * dx_hand_model_B.t8_h *
14917 dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_a4 *
14918 dx_hand_model_B.t12_o * 2.0F) + dx_hand_model_B.tmp_tmp_ow *
14919 dx_hand_model_B.t11_e * 2.0F) + dx_hand_model_B.tmp_tmp_a4 *
14920 dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.tmp_tmp_ow *
14921 dx_hand_model_B.t15_g * 2.0F) + dx_hand_model_B.tmp_tmp_jw *
14922 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_pie *
14923 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ob *
14924 dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t775 *
14925 dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t781 *
14926 dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.t782 * dx_hand_model_B.t8_h *
14927 2.0F) + dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t8_h * 2.0F) +
14928 dx_hand_model_B.t785 * dx_hand_model_B.t8_h * 2.0F) +
14929 dx_hand_model_B.xD1_tmp_tmp_i * dx_hand_model_B.t8_h * 2.0F) +
14930 dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t8_h * 2.0F) +
14931 dx_hand_model_B.tmp_tmp_kv * dx_hand_model_B.t8_h * 2.0F) +
14932 dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.t8_h * 2.0F) +
14933 dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
14934 4.0F) + dx_hand_model_B.t815 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
14935 4.0F) + dx_hand_model_B.tmp_tmp_fz * dx_hand_model_B.t8_h * 2.0F) +
14936 dx_hand_model_B.tmp_tmp_cm * dx_hand_model_B.t8_h * 2.0F) +
14937 dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
14938 4.0F) + dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t17_f * 6.0F) +
14939 dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t8_h * 4.0F) +
14940 dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
14941 4.0F) + dx_hand_model_B.tmp_tmp_nl * dx_hand_model_B.t8_h * 2.0F) +
14942 dx_hand_model_B.tmp_tmp_iu * dx_hand_model_B.t8_h * 2.0F) +
14943 dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t17_f * 2.0F) +
14944 dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t19_e * 6.0F) +
14945 dx_hand_model_B.tmp_tmp_i3r * dx_hand_model_B.t8_h * 4.0F) +
14946 dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t19_e * 2.0F) +
14947 dx_hand_model_B.t836_re * dx_hand_model_B.t13_b * 6.0F) +
14948 dx_hand_model_B.t769_re * dx_hand_model_B.t13_b * 6.0F) +
14949 dx_hand_model_B.t823 * dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t821 *
14950 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t834_re *
14951 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_n *
14952 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_fx *
14953 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_nj *
14954 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t778 *
14955 dx_hand_model_B.Sum_nf) + dx_hand_model_B.t797 * dx_hand_model_B.Sum_nf) +
14956 dx_hand_model_B.t796 * dx_hand_model_B.t7) + dx_hand_model_B.t770_re *
14957 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t772_re * dx_hand_model_B.t7 *
14958 2.0F) + dx_hand_model_B.t774 * dx_hand_model_B.t7) +
14959 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t17_f) +
14960 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t19_e)) +
14961 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t18_h * 2.0F) +
14962 dx_hand_model_B.t777 * dx_hand_model_B.t19_e * 2.0F) +
14963 dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t17_f * 2.0F) +
14964 dx_hand_model_B.t777 * dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_al *
14965 dx_hand_model_B.t19_e) + dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t18_h)
14966 + dx_hand_model_B.tmp_tmp_d4 * dx_hand_model_B.Sum_nf) +
14967 dx_hand_model_B.tmp_tmp_ey * dx_hand_model_B.Sum_nf) +
14968 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t7 * 2.0F) +
14969 dx_hand_model_B.t796 * dx_hand_model_B.t19_e * 6.0F) +
14970 dx_hand_model_B.t770_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t772_re *
14971 dx_hand_model_B.t17_f) + dx_hand_model_B.t796 * dx_hand_model_B.t18_h * 6.0F)
14972 + dx_hand_model_B.t770_re * dx_hand_model_B.t19_e) + dx_hand_model_B.t772_re
14973 * dx_hand_model_B.t19_e) + dx_hand_model_B.t774 * dx_hand_model_B.t17_f *
14974 6.0F) + dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t17_f) +
14975 dx_hand_model_B.t770_re * dx_hand_model_B.t18_h * 2.0F) +
14976 dx_hand_model_B.t772_re * dx_hand_model_B.t18_h * 2.0F) +
14977 dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t19_e * 2.0F) +
14978 dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t17_f * 2.0F) +
14979 dx_hand_model_B.t774 * dx_hand_model_B.t18_h * 6.0F) +
14980 dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t18_h) +
14981 dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t19_e) +
14982 dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t18_h) +
14983 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t17_f) +
14984 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t19_e) +
14985 dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t18_h * 2.0F) +
14986 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t8_h * 2.0F) +
14987 dx_hand_model_B.tmp_tmp_fa * dx_hand_model_B.t8_h * 2.0F) +
14988 dx_hand_model_B.tmp_tmp_ji * dx_hand_model_B.t8_h * 2.0F) +
14989 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t8_h * 2.0F) +
14990 dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t8_h * dx_hand_model_B.t17_f *
14991 2.0F) + dx_hand_model_B.tmp_tmp_fr * dx_hand_model_B.t8_h * 2.0F) +
14992 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t8_h *
14993 dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_oyy *
14994 dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.tmp_tmp_ln *
14995 dx_hand_model_B.t8_h * 4.0F) + dx_hand_model_B.tmp_tmp_m1 *
14996 dx_hand_model_B.t8_h * dx_hand_model_B.t18_h * 4.0F) +
14997 dx_hand_model_B.tmp_tmp_lu * dx_hand_model_B.t8_h * 2.0F) +
14998 dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t17_f * 2.0F) +
14999 dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.t8_h * 6.0F) +
15000 dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t8_h * dx_hand_model_B.t19_e *
15001 2.0F) + dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t19_e * 2.0F) +
15002 dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.t8_h * 2.0F) +
15003 dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.t8_h * 4.0F) +
15004 dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t17_f * 2.0F) +
15005 dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.t8_h * 2.0F) +
15006 dx_hand_model_B.tmp_tmp_js * dx_hand_model_B.t8_h * 2.0F) +
15007 dx_hand_model_B.tmp_tmp_ho * dx_hand_model_B.t8_h * 4.0F) +
15008 dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t18_h * 2.0F) +
15009 dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t19_e * 2.0F) +
15010 dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.t8_h * 6.0F) +
15011 dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t18_h * 2.0F) +
15012 dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t17_f * 2.0F) +
15013 dx_hand_model_B.tmp_tmp_ki * dx_hand_model_B.t8_h * 2.0F) +
15014 dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
15015 4.0F) + dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t19_e * 4.0F) +
15016 dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t8_h * 4.0F) +
15017 dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t8_h * 2.0F) +
15018 dx_hand_model_B.tmp_tmp_kl * dx_hand_model_B.t8_h * 2.0F) +
15019 dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t18_h * 4.0F) +
15020 dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t17_f * 4.0F) +
15021 dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
15022 4.0F) + dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t8_h * 4.0F) +
15023 dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t17_f * 2.0F) +
15024 dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t8_h * 2.0F) +
15025 dx_hand_model_B.tmp_tmp_eg * dx_hand_model_B.t8_h * 6.0F) +
15026 dx_hand_model_B.tmp_tmp_hn * dx_hand_model_B.t8_h * 8.0F) +
15027 dx_hand_model_B.tmp_tmp_ku * dx_hand_model_B.t8_h * 2.0F) +
15028 dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t19_e * 2.0F) +
15029 dx_hand_model_B.tmp_tmp_ooe * dx_hand_model_B.t8_h * 2.0F) +
15030 dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t19_e * 2.0F) +
15031 dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.t8_h * 4.0F) +
15032 dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t17_f * 2.0F) +
15033 dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.t8_h * 2.0F) +
15034 dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.t8_h * 2.0F) +
15035 dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t18_h * 4.0F) +
15036 dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t18_h * 2.0F) +
15037 dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t8_h * 4.0F) +
15038 dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t19_e * 2.0F) +
15039 dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.t8_h * 6.0F) +
15040 dx_hand_model_B.tmp_tmp_ho4 * dx_hand_model_B.t8_h * 8.0F) +
15041 dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t18_h * 2.0F) +
15042 dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t8_h * 4.0F) +
15043 dx_hand_model_B.t802 * dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t790 *
15044 dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t773_re *
15045 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t771_re *
15046 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_cg *
15047 dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t820 * dx_hand_model_B.t13_b
15048 * 2.0F) + dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t13_b * 6.0F) +
15049 dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t13_b * 6.0F) +
15050 dx_hand_model_B.t822 * dx_hand_model_B.t20_c * 2.0F) +
15051 dx_hand_model_B.t836_re * dx_hand_model_B.t20_c * 2.0F) +
15052 dx_hand_model_B.t768_re * dx_hand_model_B.t20_c * 2.0F) +
15053 dx_hand_model_B.t769_re * dx_hand_model_B.t20_c * 2.0F) +
15054 dx_hand_model_B.t823 * dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t821 *
15055 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t834_re *
15056 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_n *
15057 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fx *
15058 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_pm *
15059 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_nj *
15060 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_k *
15061 dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fnt *
15062 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_iv *
15063 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1248 *
15064 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t1250 *
15065 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *
15066 dx_hand_model_B.t17_f * 4.0F) + dx_hand_model_B.t1252 *
15067 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_cy *
15068 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *
15069 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1253 *
15070 dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_f4 *
15071 dx_hand_model_B.t19_e * 8.0F) + dx_hand_model_B.tmp_tmp_nnx *
15072 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp *
15073 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp *
15074 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *
15075 dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.t1254 *
15076 dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_fd *
15077 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t26_m * dx_hand_model_B.t17_f *
15078 8.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.Sum_nf * 6.0F)
15079 + dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.Sum_nf * 6.0F) +
15080 dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.Sum_nf * 6.0F)) +
15081 dx_hand_model_B.t26_m * dx_hand_model_B.t19_e * 4.0F) +
15082 dx_hand_model_B.t26_m * dx_hand_model_B.t18_h * 4.0F) +
15083 dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.Sum_nf * 6.0F) +
15084 dx_hand_model_B.tmp_tmp_cg1 * dx_hand_model_B.t7 * 2.0F) +
15085 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +
15086 dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.Sum_nf * 2.0F) +
15087 dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t7 * 6.0F) +
15088 dx_hand_model_B.xD1_tmp * dx_hand_model_B.Sum_nf * 2.0F) +
15089 dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t7 * 6.0F) +
15090 dx_hand_model_B.t1312 * dx_hand_model_B.Sum_nf * 2.0F) +
15091 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +
15092 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +
15093 dx_hand_model_B.tmp_tmp_be * dx_hand_model_B.Sum_nf * 2.0F) +
15094 dx_hand_model_B.tmp_tmp_os * dx_hand_model_B.Sum_nf * 6.0F) +
15095 dx_hand_model_B.t819 * dx_hand_model_B.Sum_nf * 6.0F) +
15096 dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.Sum_nf * 2.0F) +
15097 dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.Sum_nf * 2.0F) +
15098 dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +
15099 dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.Sum_nf * 2.0F) +
15100 dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.Sum_nf * 6.0F) +
15101 dx_hand_model_B.xD1_tmp_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +
15102 dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.Sum_nf * 2.0F) +
15103 dx_hand_model_B.JTcomp_idx_3_tmp_k * dx_hand_model_B.Sum_nf * 2.0F) +
15104 dx_hand_model_B.JTcomp_idx_3_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +
15105 dx_hand_model_B.tmp_tmp_kuk * dx_hand_model_B.Sum_nf * 2.0F) +
15106 dx_hand_model_B.tmp_tmp_jkf * dx_hand_model_B.Sum_nf * 2.0F) +
15107 dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.Sum_nf * 2.0F) +
15108 dx_hand_model_B.tmp_tmp_f2 * dx_hand_model_B.t7 * 2.0F) +
15109 dx_hand_model_B.tmp_tmp_dy * dx_hand_model_B.Sum_nf * 6.0F) +
15110 dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.Sum_nf * 2.0F) +
15111 dx_hand_model_B.tmp_tmp_kg * dx_hand_model_B.t7 * 2.0F) +
15112 dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t8_h * 4.0F) +
15113 dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.t8_h * 2.0F) +
15114 dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.t8_h * 2.0F) +
15115 dx_hand_model_B.t26_m * dx_hand_model_B.t8_h * 4.0F) +
15116 dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.t8_h * 2.0F) +
15117 dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.t8_h * 2.0F) +
15118 dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.t8_h * 2.0F) +
15119 dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.t8_h * 2.0F) +
15120 dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t8_h * 4.0F) +
15121 dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.t8_h * 2.0F) +
15122 dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t8_h * 4.0F) +
15123 dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.t8_h * 2.0F) +
15124 dx_hand_model_B.t818 * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t817
15125 * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t814 *
15126 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ki *
15127 dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_my *
15128 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ooe *
15129 dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *
15130 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *
15131 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ft *
15132 dx_hand_model_B.Sum_nf * 12.0F) + dx_hand_model_B.tmp_tmp_gd *
15133 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_jc *
15134 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_cqr *
15135 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_egf *
15136 dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_mxd *
15137 dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t7
15138 * 2.0F) + dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.Sum_nf * 2.0F) +
15139 dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.Sum_nf * 2.0F) +
15140 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t17_f * 4.0F) +
15141 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t19_e * 4.0F) +
15142 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t18_h * 8.0F) +
15143 dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t7 * 6.0F) +
15144 dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t7 * 6.0F) +
15145 dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.Sum_nf * 6.0F) +
15146 dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.Sum_nf * 6.0F) +
15147 dx_hand_model_B.tmp_tmp_gi * dx_hand_model_B.Sum_nf * 6.0F) +
15148 dx_hand_model_B.tmp_tmp_om * dx_hand_model_B.Sum_nf * 6.0F) +
15149 dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t7 * 2.0F) +
15150 dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t7 * 2.0F) +
15151 dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.Sum_nf * 6.0F) +
15152 dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.Sum_nf * 2.0F) +
15153 dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.Sum_nf * 2.0F) +
15154 dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.Sum_nf * 6.0F) +
15155 dx_hand_model_B.tmp_tmp_mid * dx_hand_model_B.Sum_nf * 6.0F) +
15156 dx_hand_model_B.tmp_tmp_ftf * dx_hand_model_B.Sum_nf * 6.0F) +
15157 dx_hand_model_B.tmp_tmp_on * dx_hand_model_B.Sum_nf * 2.0F) +
15158 dx_hand_model_B.tmp_tmp_iz5 * dx_hand_model_B.Sum_nf * 2.0F) +
15159 dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.t8_h * 2.0F) +
15160 dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.t8_h * 2.0F) +
15161 dx_hand_model_B.tmp_tmp_o4 * dx_hand_model_B.t8_h * 2.0F) +
15162 dx_hand_model_B.tmp_tmp_frj * dx_hand_model_B.t8_h * 2.0F) +
15163 dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.t8_h * 2.0F) +
15164 dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.t8_h * 2.0F) +
15165 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t8_h * 2.0F) +
15166 dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.t8_h * 2.0F) +
15167 dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.t8_h * 2.0F) +
15168 dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.t8_h * 2.0F) +
15169 dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.t8_h * 2.0F) +
15170 dx_hand_model_B.tmp_tmp_ko * dx_hand_model_B.t8_h * 4.0F) +
15171 dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.t8_h * 2.0F) +
15172 dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.t8_h * 2.0F) +
15173 dx_hand_model_B.tmp_tmp_j11 * dx_hand_model_B.t8_h * 4.0F) +
15174 dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t8_h * 2.0F) +
15175 dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.t8_h * 6.0F) +
15176 dx_hand_model_B.tmp_tmp_axm * dx_hand_model_B.t8_h * 2.0F) +
15177 dx_hand_model_B.tmp_tmp_hi * dx_hand_model_B.t8_h * 2.0F) +
15178 dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.t8_h * 2.0F) +
15179 dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t8_h * 8.0F) +
15180 dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.t8_h * 2.0F) +
15181 dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.t8_h * 6.0F) +
15182 dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t8_h * 8.0F) +
15183 dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.t8_h * 6.0F) +
15184 dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.t8_h * 2.0F) +
15185 dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.t8_h * 2.0F) +
15186 dx_hand_model_B.tmp_tmp_an * dx_hand_model_B.t8_h * 4.0F) +
15187 dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.t8_h * 6.0F) +
15188 dx_hand_model_B.tmp_tmp_aq * dx_hand_model_B.t8_h * 4.0F) +
15189 dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t8_h * 2.0F) +
15190 dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.t8_h * 2.0F) +
15191 dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.t8_h * 2.0F) +
15192 dx_hand_model_B.tmp_tmp_oc * dx_hand_model_B.Sum_nf * 4.0F) +
15193 dx_hand_model_B.tmp_tmp_hnt * dx_hand_model_B.Sum_nf * 4.0F) +
15194 dx_hand_model_B.tmp_tmp_jkh * dx_hand_model_B.t8_h * 8.0F) +
15195 dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.t8_h * 4.0F) +
15196 dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.t8_h * 4.0F) +
15197 dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.t8_h * 8.0F) +
15198 dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.t8_h * 4.0F) +
15199 dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.t8_h * 4.0F) +
15200 dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.t8_h * 4.0F)) +
15201 dx_hand_model_B.tmp_tmp_n0 * dx_hand_model_B.t8_h * 4.0F) +
15202 dx_hand_model_B.tmp_tmp_izy * dx_hand_model_B.t8_h * 4.0F) -
15203 dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t7 * 2.0F) -
15204 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t7 * 2.0F) -
15205 dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t17_f * 4.0F) -
15206 dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t19_e * 4.0F) -
15207 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t8_h *
15208 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_dr *
15209 dx_hand_model_B.t11_e) - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t12_o)
15210 - dx_hand_model_B.t3 * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b * 2.0F)
15211 - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t14_a) -
15212 dx_hand_model_B.tmp_tmp_dr * dx_hand_model_B.t15_g) - dx_hand_model_B.t8_h *
15213 dx_hand_model_B.t11_e * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *
15214 dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *
15215 dx_hand_model_B.t12_o * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *
15216 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.t8_h * dx_hand_model_B.t14_a
15217 * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *
15218 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 *
15219 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_a *
15220 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t837_re *
15221 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t838_re *
15222 dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t13_b
15223 * 2.0F) - dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t13_b * 2.0F) -
15224 dx_hand_model_B.tmp_tmp_pr * dx_hand_model_B.t13_b * 2.0F) -
15225 dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t17_f * 4.0F) -
15226 dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t13_b * 2.0F) -
15227 dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t11_e * 2.0F) -
15228 dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t13_b * 2.0F) -
15229 dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t19_e * 4.0F) -
15230 dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t13_b * 2.0F) -
15231 dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t15_g * 2.0F) -
15232 dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.t8_h) -
15233 dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t8_h * 2.0F) -
15234 dx_hand_model_B.xD1_tmp_tmp_k * dx_hand_model_B.t8_h) -
15235 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t8_h *
15236 dx_hand_model_B.t17_f) - dx_hand_model_B.t1251 * dx_hand_model_B.t8_h *
15237 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1261 * dx_hand_model_B.t8_h
15238 * dx_hand_model_B.t19_e) - dx_hand_model_B.t796 * dx_hand_model_B.t8_h) -
15239 dx_hand_model_B.t770_re * dx_hand_model_B.t8_h * 2.0F) -
15240 dx_hand_model_B.t772_re * dx_hand_model_B.t8_h * 2.0F) -
15241 dx_hand_model_B.tmp_tmp_bf * dx_hand_model_B.t8_h * 2.0F) -
15242 dx_hand_model_B.t774 * dx_hand_model_B.t8_h) - dx_hand_model_B.tmp_tmp_eh *
15243 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_bs *
15244 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t1212 * dx_hand_model_B.t8_h *
15245 dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_hj *
15246 dx_hand_model_B.t17_f) - dx_hand_model_B.t752 * dx_hand_model_B.t8_h *
15247 dx_hand_model_B.t17_f) - dx_hand_model_B.t739 * dx_hand_model_B.t8_h *
15248 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hj *
15249 dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t1328 * dx_hand_model_B.t8_h
15250 * dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_pn *
15251 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_hj *
15252 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t750 * dx_hand_model_B.t8_h *
15253 dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_pn *
15254 dx_hand_model_B.t19_e) - dx_hand_model_B.t754 * dx_hand_model_B.t8_h *
15255 dx_hand_model_B.t19_e) - dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t17_f *
15256 6.0F) - dx_hand_model_B.tmp_tmp_pn * dx_hand_model_B.t18_h * 2.0F) -
15257 dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t19_e * 6.0F) -
15258 dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t17_f) -
15259 dx_hand_model_B.t761_re * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
15260 2.0F) - dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t19_e * 2.0F) -
15261 dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t17_f * 2.0F) -
15262 dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t18_h * 2.0F) -
15263 dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t19_e) -
15264 dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t18_h * 2.0F) -
15265 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t13_b * 2.0F) -
15266 dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.Sum_nf * 2.0F) -
15267 dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t7 * 2.0F) -
15268 dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t13_b * 2.0F) -
15269 dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.Sum_nf * 2.0F) -
15270 dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.Sum_nf * 2.0F) -
15271 dx_hand_model_B.t26_m * dx_hand_model_B.t7 * 2.0F) -
15272 dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.Sum_nf * 2.0F) -
15273 dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t13_b * 2.0F) -
15274 dx_hand_model_B.t758_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)
15275 - dx_hand_model_B.t824 * dx_hand_model_B.t13_b * 2.0F) -
15276 dx_hand_model_B.t759_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)
15277 - dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t17_f * 2.0F) -
15278 dx_hand_model_B.t826_re * dx_hand_model_B.t13_b * 2.0F) -
15279 dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t19_e * 4.0F) -
15280 dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t13_b * 4.0F) -
15281 dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t14_a * 2.0F) -
15282 dx_hand_model_B.tmp_tmp_g4k * dx_hand_model_B.t13_b * 2.0F) -
15283 dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t15_g * 2.0F) -
15284 dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t18_h * 2.0F) -
15285 dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t17_f * 4.0F) -
15286 dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t13_b * 4.0F) -
15287 dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t12_o * 2.0F) -
15288 dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t13_b * 2.0F) -
15289 dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t11_e * 2.0F) -
15290 dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t13_b * 6.0F) -
15291 dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t16_e * 2.0F) -
15292 dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t19_e * 2.0F) -
15293 dx_hand_model_B.t841_re * dx_hand_model_B.t13_b * 2.0F) -
15294 dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t18_h * 2.0F) -
15295 dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t13_b * 2.0F) -
15296 dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t12_o * 2.0F) -
15297 dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t13_b * 6.0F) -
15298 dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t16_e * 2.0F) -
15299 dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t13_b * 2.0F) -
15300 dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t14_a * 2.0F) -
15301 dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.Sum_nf * 2.0F) -
15302 dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.Sum_nf * 2.0F) -
15303 dx_hand_model_B.t9_tmp * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *
15304 2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t20_c * 2.0F) -
15305 dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t20_c * 2.0F) -
15306 dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *
15307 2.0F) - dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t20_c * 2.0F) -
15308 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t17_f * dx_hand_model_B.t20_c *
15309 2.0F) - dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t20_c * 2.0F) -
15310 dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t20_c * 2.0F) -
15311 dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t20_c * 2.0F) -
15312 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t19_e * dx_hand_model_B.t20_c *
15313 2.0F) - dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t20_c * 2.0F) -
15314 dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t20_c * 2.0F) -
15315 dx_hand_model_B.tmp_tmp_og * dx_hand_model_B.Sum_nf * 2.0F) -
15316 dx_hand_model_B.tmp_tmp_gb * dx_hand_model_B.t7 * 2.0F) -
15317 dx_hand_model_B.tmp_tmp_mz * dx_hand_model_B.Sum_nf * 2.0F) -
15318 dx_hand_model_B.tmp_tmp_otc * dx_hand_model_B.Sum_nf * 2.0F) -
15319 dx_hand_model_B.tmp_tmp_gz * dx_hand_model_B.Sum_nf * 2.0F) -
15320 dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t7 * 2.0F) -
15321 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t17_f * 2.0F) -
15322 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t19_e * 4.0F) -
15323 dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.Sum_nf * 4.0F) -
15324 dx_hand_model_B.t785 * dx_hand_model_B.t17_f * 4.0F) -
15325 dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t18_h * 2.0F) -
15326 dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t7 * 2.0F) -
15327 dx_hand_model_B.t785 * dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t785 *
15328 dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_i3r *
15329 dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_ez *
15330 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_izd *
15331 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *
15332 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_i *
15333 dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_ge *
15334 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *
15335 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *
15336 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_gr *
15337 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ca *
15338 dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_eg *
15339 dx_hand_model_B.Sum_nf * 6.0F) - dx_hand_model_B.tmp_tmp_kt *
15340 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_i *
15341 dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_c *
15342 dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ds *
15343 dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_k *
15344 dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 2.0F) -
15345 dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t19_e * 4.0F) -
15346 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t17_f * 4.0F) -
15347 dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.Sum_nf * 2.0F) -
15348 dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.Sum_nf * 2.0F) -
15349 dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t18_h * 4.0F) -
15350 dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t18_h * 2.0F) -
15351 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t19_e * 2.0F) -
15352 dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.Sum_nf * 6.0F) -
15353 dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t18_h * 4.0F) -
15354 dx_hand_model_B.tmp_tmp_tmp_p5 * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7
15355 * 2.0F) - dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t7 * 2.0F) -
15356 dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t18_h * 2.0F) -
15357 dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t7 * 2.0F) -
15358 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t13_b * 2.0F) -
15359 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t13_b * 2.0F) -
15360 dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t13_b * 2.0F) -
15361 dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t13_b * 2.0F) -
15362 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t8_h * 4.0F) -
15363 dx_hand_model_B.tmp_tmp_jw * dx_hand_model_B.t8_h * 4.0F) -
15364 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t8_h * 4.0F) -
15365 dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t8_h * 4.0F) -
15366 dx_hand_model_B.tmp_tmp_a0x * dx_hand_model_B.t8_h * 4.0F) -
15367 dx_hand_model_B.tmp_tmp_fto * dx_hand_model_B.t8_h * 2.0F) -
15368 dx_hand_model_B.tmp_tmp_ci * dx_hand_model_B.t8_h * 2.0F) -
15369 dx_hand_model_B.tmp_tmp_jkx * dx_hand_model_B.t8_h * 4.0F) -
15370 dx_hand_model_B.tmp_tmp_kbp * dx_hand_model_B.t8_h * 4.0F) -
15371 dx_hand_model_B.tmp_tmp_hj5 * dx_hand_model_B.t8_h * 4.0F) -
15372 dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t8_h * 4.0F) -
15373 dx_hand_model_B.t987_re * dx_hand_model_B.t8_h * 4.0F) -
15374 dx_hand_model_B.t832_re * dx_hand_model_B.t8_h * 4.0F) -
15375 dx_hand_model_B.tmp_tmp_j1 * dx_hand_model_B.t8_h * 4.0F) -
15376 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t13_b * 2.0F) -
15377 dx_hand_model_B.t822 * dx_hand_model_B.t13_b * 2.0F) -
15378 dx_hand_model_B.t768_re * dx_hand_model_B.t13_b * 2.0F) -
15379 dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t13_b * 2.0F) -
15380 dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t13_b * 6.0F) -
15381 dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t13_b * 6.0F) -
15382 dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t13_b * 2.0F) -
15383 dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t20_c * 2.0F) -
15384 dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t20_c * 2.0F) -
15385 dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t20_c * 2.0F) -
15386 dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t20_c * 2.0F) -
15387 dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t20_c * 2.0F) -
15388 dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t20_c * 2.0F) -
15389 dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.Sum_nf * 2.0F) -
15390 dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.Sum_nf * 2.0F) -
15391 dx_hand_model_B.tmp_tmp_np5 * dx_hand_model_B.Sum_nf * 2.0F) -
15392 dx_hand_model_B.tmp_tmp_j0o * dx_hand_model_B.Sum_nf * 2.0F) -
15393 dx_hand_model_B.tmp_tmp_lc * dx_hand_model_B.Sum_nf * 2.0F) -
15394 dx_hand_model_B.tmp_tmp_phi * dx_hand_model_B.Sum_nf * 2.0F) -
15395 dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.Sum_nf * 2.0F) -
15396 dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.Sum_nf * 2.0F) -
15397 dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.Sum_nf * 2.0F) -
15398 dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.Sum_nf * 2.0F) -
15399 dx_hand_model_B.t833_re * dx_hand_model_B.t7 * 2.0F) -
15400 dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.Sum_nf * 2.0F) -
15401 dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.Sum_nf * 2.0F) -
15402 dx_hand_model_B.tmp_tmp_el * dx_hand_model_B.t7 * 2.0F) -
15403 dx_hand_model_B.tmp_tmp_n3e * dx_hand_model_B.Sum_nf * 2.0F) -
15404 dx_hand_model_B.tmp_tmp_fni * dx_hand_model_B.Sum_nf * 2.0F) -
15405 dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t7 * 2.0F) -
15406 dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.Sum_nf * 2.0F) -
15407 dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t7 * 2.0F) -
15408 dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.Sum_nf * 2.0F) -
15409 dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.Sum_nf * 6.0F) -
15410 dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.Sum_nf * 2.0F) -
15411 dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.Sum_nf * 2.0F) -
15412 dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t7 * 6.0F) -
15413 dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.Sum_nf * 6.0F) -
15414 dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t7 * 6.0F) -
15415 dx_hand_model_B.tmp_tmp_fxv * dx_hand_model_B.Sum_nf * 2.0F) -
15416 dx_hand_model_B.tmp_tmp_i4x * dx_hand_model_B.Sum_nf * 2.0F) -
15417 dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.Sum_nf * 2.0F) -
15418 dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.Sum_nf * 2.0F) -
15419 dx_hand_model_B.t1254 * dx_hand_model_B.t8_h * 6.0F) -
15420 dx_hand_model_B.t842_re * dx_hand_model_B.t8_h * 8.0F) -
15421 dx_hand_model_B.t1255 * dx_hand_model_B.t8_h * 2.0F) -
15422 dx_hand_model_B.t831_re * dx_hand_model_B.t8_h * 2.0F) -
15423 dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.t8_h * 6.0F) -
15424 dx_hand_model_B.t843_re * dx_hand_model_B.t8_h * 8.0F) -
15425 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.t8_h * 2.0F) -
15426 dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.t8_h * 2.0F) -
15427 dx_hand_model_B.t833_re * dx_hand_model_B.t8_h * 4.0F) -
15428 dx_hand_model_B.tmp_tmp_c5 * dx_hand_model_B.t8_h * 2.0F) -
15429 dx_hand_model_B.t812 * dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.t813 *
15430 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_pw *
15431 dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_dat *
15432 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_el *
15433 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_pi *
15434 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t776 * dx_hand_model_B.t8_h *
15435 4.0F) - dx_hand_model_B.t810 * dx_hand_model_B.t8_h * 2.0F) -
15436 dx_hand_model_B.t808 * dx_hand_model_B.t8_h * 6.0F) -
15437 dx_hand_model_B.tmp_tmp_hs * dx_hand_model_B.t8_h * 4.0F) -
15438 dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t8_h * 4.0F) -
15439 dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.t8_h * 2.0F) -
15440 dx_hand_model_B.t779 * dx_hand_model_B.t8_h * 2.0F) -
15441 dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t8_h * 4.0F) -
15442 dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.t8_h * 2.0F) -
15443 dx_hand_model_B.t780 * dx_hand_model_B.t8_h * 2.0F) -
15444 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t7 * 2.0F) -
15445 dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t7 * 2.0F) -
15446 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t17_f * 2.0F) -
15447 dx_hand_model_B.tmp_tmp_nlw * dx_hand_model_B.Sum_nf * 2.0F) -
15448 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t19_e * 2.0F) -
15449 dx_hand_model_B.tmp_tmp_fj * dx_hand_model_B.Sum_nf * 6.0F) -
15450 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t17_f * 2.0F) -
15451 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t17_f * 2.0F) -
15452 dx_hand_model_B.tmp_tmp_ay * dx_hand_model_B.Sum_nf * 6.0F) -
15453 dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t7 * 2.0F) -
15454 dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t18_h * 4.0F) -
15455 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t19_e * 4.0F) -
15456 dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t7 * 2.0F) -
15457 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t19_e * 2.0F) -
15458 dx_hand_model_B.tmp_tmp_mu * dx_hand_model_B.Sum_nf * 2.0F) -
15459 dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t7 * 4.0F) -
15460 dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t18_h * 2.0F) -
15461 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t17_f * 4.0F) -
15462 dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t7 * 2.0F) -
15463 dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t18_h * 4.0F) -
15464 dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.Sum_nf * 6.0F) -
15465 dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t7 * 4.0F) -
15466 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t19_e * 2.0F) -
15467 dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.Sum_nf * 2.0F) -
15468 dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.Sum_nf * 2.0F) -
15469 dx_hand_model_B.t987_re * dx_hand_model_B.t7 * 2.0F) -
15470 dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t18_h * 2.0F) -
15471 dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.Sum_nf * 6.0F) -
15472 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t17_f * 2.0F) -
15473 dx_hand_model_B.tmp_tmp_nh4 * dx_hand_model_B.Sum_nf * 2.0F) -
15474 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t19_e * 2.0F) -
15475 dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t17_f * 2.0F) -
15476 dx_hand_model_B.tmp_tmp_d4f * dx_hand_model_B.Sum_nf * 6.0F) -
15477 dx_hand_model_B.tmp_tmp_ky * dx_hand_model_B.Sum_nf * 6.0F) -
15478 dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t18_h * 4.0F) -
15479 dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t19_e * 2.0F) -
15480 dx_hand_model_B.tmp_tmp_cl * dx_hand_model_B.Sum_nf * 2.0F) -
15481 dx_hand_model_B.tmp_tmp_tmp_jd * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7
15482 * 2.0F) - dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t18_h * 4.0F) -
15483 dx_hand_model_B.tmp_tmp_tmp_m * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 *
15484 2.0F) - dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.Sum_nf * 4.0F) -
15485 dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.Sum_nf * 8.0F) -
15486 dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.Sum_nf * 8.0F) -
15487 dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.Sum_nf * 8.0F) -
15488 dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.Sum_nf * 8.0F) -
15489 dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.Sum_nf * 8.0F) -
15490 dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.Sum_nf * 4.0F) -
15491 dx_hand_model_B.tmp_tmp_in * dx_hand_model_B.Sum_nf * 4.0F) -
15492 dx_hand_model_B.tmp_tmp_i0 * dx_hand_model_B.Sum_nf * 4.0F) -
15493 dx_hand_model_B.tmp_tmp_lgo * dx_hand_model_B.Sum_nf * 4.0F) -
15494 dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t7 * 2.0F) -
15495 dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t7 * 2.0F) -
15496 dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.Sum_nf * 2.0F) -
15497 dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.Sum_nf * 2.0F) -
15498 dx_hand_model_B.tmp_tmp_fa5 * dx_hand_model_B.Sum_nf * 2.0F) -
15499 dx_hand_model_B.tmp_tmp_eu * dx_hand_model_B.Sum_nf * 2.0F) -
15500 dx_hand_model_B.tmp_tmp_inq * dx_hand_model_B.Sum_nf * 2.0F) -
15501 dx_hand_model_B.tmp_tmp_a0m * dx_hand_model_B.Sum_nf * 2.0F) -
15502 dx_hand_model_B.tmp_tmp_ldg * dx_hand_model_B.Sum_nf * 6.0F) -
15503 dx_hand_model_B.tmp_tmp_aiu * dx_hand_model_B.Sum_nf * 6.0F) -
15504 dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.Sum_nf * 6.0F) -
15505 dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.Sum_nf * 2.0F) -
15506 dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.Sum_nf * 2.0F) -
15507 dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.Sum_nf * 6.0F) -
15508 dx_hand_model_B.tmp_tmp_iyd * dx_hand_model_B.Sum_nf * 6.0F) -
15509 dx_hand_model_B.tmp_tmp_ok * dx_hand_model_B.Sum_nf * 6.0F) -
15510 dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t7 * 2.0F) -
15511 dx_hand_model_B.tmp_tmp_nmz * dx_hand_model_B.t8_h * 2.0F) -
15512 dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.t8_h * 2.0F) -
15513 dx_hand_model_B.tmp_tmp_fnt * dx_hand_model_B.t8_h * 2.0F) -
15514 dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.t8_h * 2.0F) -
15515 dx_hand_model_B.tmp_tmp_iv * dx_hand_model_B.t8_h * 2.0F) -
15516 dx_hand_model_B.tmp_tmp_ceo * dx_hand_model_B.t8_h * 2.0F) -
15517 dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *
15518 8.0F) - dx_hand_model_B.tmp_tmp_mxd * dx_hand_model_B.t8_h * 6.0F) -
15519 dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t8_h * 6.0F) -
15520 dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t17_f * 4.0F) -
15521 dx_hand_model_B.tmp_tmp_nhy * dx_hand_model_B.t8_h * 2.0F) -
15522 dx_hand_model_B.tmp_tmp_daj * dx_hand_model_B.t8_h * 2.0F) -
15523 dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t19_e * 4.0F) -
15524 dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.t8_h * 6.0F) -
15525 dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.t8_h * 2.0F) -
15526 dx_hand_model_B.JTcomp_idx_3_tmp_tmp * dx_hand_model_B.t8_h * 6.0F) -
15527 dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.t8_h * 2.0F) -
15528 dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t18_h * 4.0F) -
15529 dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t17_f * 4.0F) -
15530 dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.t8_h * 6.0F) -
15531 dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.t8_h * 2.0F) -
15532 dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.t8_h * 6.0F) -
15533 dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.t8_h * 2.0F) -
15534 dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t19_e * 4.0F) -
15535 dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t18_h * 4.0F) -
15536 dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.t8_h * 6.0F) -
15537 dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.t8_h * 2.0F) -
15538 dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.t8_h * 2.0F) -
15539 dx_hand_model_B.tmp_tmp_bi * dx_hand_model_B.t8_h * 4.0F) -
15540 dx_hand_model_B.xD1_tmp * dx_hand_model_B.t8_h * 2.0F) -
15541 dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.t8_h * 2.0F) -
15542 dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.t8_h * 6.0F) -
15543 dx_hand_model_B.tmp_tmp_bt * dx_hand_model_B.t8_h * 4.0F) -
15544 dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t8_h * 2.0F) -
15545 dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t8_h * 2.0F) -
15546 dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.t8_h * 2.0F) -
15547 dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.t8_h * 2.0F) -
15548 dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.t8_h * 2.0F) -
15549 dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.t8_h * 2.0F) -
15550 dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t8_h * 2.0F) -
15551 dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.t8_h * 6.0F)
15552 - dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t8_h *
15553 2.0F) - dx_hand_model_B.tmp_tmp_b4z *
15554 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_kuk
15555 * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_on
15556 * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_jkf
15557 * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_f2 *
15558 dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_iz5 *
15559 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_dy *
15560 dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_kg *
15561 dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_jkh *
15562 dx_hand_model_B.Sum_nf * 8.0F) - dx_hand_model_B.tmp_tmp_n0 *
15563 dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_izy *
15564 dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_ft *
15565 dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_oc *
15566 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_hnt *
15567 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_jc *
15568 dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_cqr *
15569 dx_hand_model_B.t8_h * 4.0F);
15570 dx_hand_model_B.t12_o = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)
15571 (dx_hand_model_B.t10_tmp * dx_hand_model_B.t10_tmp * dx_hand_model_B.t24_a -
15572 dx_hand_model_B.t1212)));
15573 dx_hand_model_B.t13_b = dx_hand_model_B.ComplextoRealImag_b[2] *
15574 dx_hand_model_B.DataTypeConversion5_n;
15575 dx_hand_model_B.t14_a = dx_hand_model_B.ComplextoRealImag_b[2] *
15576 dx_hand_model_B.t3;
15577 dx_hand_model_B.t15_g = dx_hand_model_B.ComplextoRealImag_b[2] *
15578 dx_hand_model_B.t4_o;
15579 dx_hand_model_B.t16_e = dx_hand_model_B.ComplextoRealImag_b[2] *
15580 dx_hand_model_B.t1313;
15581 dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
15582 dx_hand_model_B.t4_o;
15583 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t =
15584 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * dx_hand_model_B.t1313;
15585 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t9_tmp *
15586 dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F;
15587 dx_hand_model_B.t11_e = dx_hand_model_B.t9_tmp_n *
15588 dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F;
15589 dx_hand_model_B.t1226 = 1.0F / (((((((((((((((((((((-dx_hand_model_B.t749 -
15590 dx_hand_model_B.t26_tmp_g) + dx_hand_model_B.t13_b) + dx_hand_model_B.t14_a)
15591 + dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +
15592 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +
15593 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) + dx_hand_model_B.t33_tmp)
15594 + dx_hand_model_B.t34_tmp) + dx_hand_model_B.tmp_tmp_tmp_o) +
15595 dx_hand_model_B.tmp_tmp_tmp_py) + dx_hand_model_B.tmp_tmp_tmp_om) +
15596 dx_hand_model_B.tmp_tmp_tmp_cm) - dx_hand_model_B.xD1_tmp_tmp) -
15597 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -
15598 dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -
15599 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e) -
15600 dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i);
15601 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.ComplextoRealImag1_d[0] *
15602 dx_hand_model_B.ComplextoRealImag_b[2];
15603 dx_hand_model_B.t1251 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
15604 dx_hand_model_B.ComplextoRealImag_b[0];
15605 dx_hand_model_B.t1248 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
15606 dx_hand_model_B.ComplextoRealImag_b[2];
15607 dx_hand_model_B.t1250 = dx_hand_model_B.ComplextoRealImag1_d[2] *
15608 dx_hand_model_B.ComplextoRealImag_b[0];
15609 dx_hand_model_B.t1312 = dx_hand_model_B.t763_re *
15610 dx_hand_model_B.ComplextoRealImag1_d[2];
15611 dx_hand_model_B.t1248 =
15612 ((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp *
15613 dx_hand_model_B.Sum_nf + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t4_o) +
15614 dx_hand_model_B.t765_re * dx_hand_model_B.t4_o) +
15615 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) +
15616 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) +
15617 dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.t7) +
15618 dx_hand_model_B.t1251 * dx_hand_model_B.t4_o) + dx_hand_model_B.xD1_tmp_o *
15619 dx_hand_model_B.DataTypeConversion5_n) + dx_hand_model_B.xD1_tmp_o *
15620 dx_hand_model_B.t3) + dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf * 2.0F)
15621 + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313) +
15622 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) +
15623 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t8_h) + dx_hand_model_B.t1248 *
15624 dx_hand_model_B.t8_h) + dx_hand_model_B.t1250 * dx_hand_model_B.t8_h) +
15625 dx_hand_model_B.tmp_tmp_jzu) + dx_hand_model_B.t1312 *
15626 dx_hand_model_B.ComplextoRealImag_b[1]) + dx_hand_model_B.t1309 *
15627 dx_hand_model_B.ComplextoRealImag_b[2]) + dx_hand_model_B.t33_tmp *
15628 dx_hand_model_B.ComplextoRealImag_b[0]) + dx_hand_model_B.t34_tmp *
15629 dx_hand_model_B.ComplextoRealImag_b[0] * 2.0F) +
15630 dx_hand_model_B.tmp_tmp_tmp_c1 * dx_hand_model_B.ComplextoRealImag_b[1]) -
15631 dx_hand_model_B.t765_re * dx_hand_model_B.Sum_nf) -
15632 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t4_o) -
15633 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t1313) -
15634 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -
15635 dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) -
15636 dx_hand_model_B.t1248 * dx_hand_model_B.t4_o * 2.0F) -
15637 dx_hand_model_B.t1248 * dx_hand_model_B.Sum_nf) -
15638 dx_hand_model_B.t1251 * dx_hand_model_B.t8_h) -
15639 dx_hand_model_B.tmp_tmp_tmp_tmp_g *
15640 dx_hand_model_B.DataTypeConversion5_n) - dx_hand_model_B.t1250 *
15641 dx_hand_model_B.t3) - dx_hand_model_B.t1250 *
15642 dx_hand_model_B.t4_o) - dx_hand_model_B.t1250 *
15643 dx_hand_model_B.t1313) - dx_hand_model_B.t1250 *
15644 dx_hand_model_B.Sum_nf) - dx_hand_model_B.t1250 * dx_hand_model_B.t7)
15645 - dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) -
15646 dx_hand_model_B.tmp_tmp_tmp_j) -
15647 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *
15648 dx_hand_model_B.ComplextoRealImag_b[0]) - dx_hand_model_B.tmp_tmp_tmp_eb
15649 * dx_hand_model_B.ComplextoRealImag_b[1]) -
15650 dx_hand_model_B.tmp_tmp_tmp_ok * dx_hand_model_B.ComplextoRealImag1_d[2] *
15651 dx_hand_model_B.ComplextoRealImag_b[1]) - dx_hand_model_B.t794 *
15652 dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F) -
15653 dx_hand_model_B.tmp_tmp_tmp_g * dx_hand_model_B.ComplextoRealImag_b[2];
15654 dx_hand_model_B.t9_l = 1.0F / dx_hand_model_B.t9_l;
15655 dx_hand_model_B.t1250 = dx_hand_model_B.DataTypeConversion5_n *
15656 dx_hand_model_B.t12_o;
15657 dx_hand_model_B.t1251 = dx_hand_model_B.t3 * dx_hand_model_B.t12_o;
15658 dx_hand_model_B.t1252 = dx_hand_model_B.t7 * dx_hand_model_B.t12_o;
15659 dx_hand_model_B.t1253 = dx_hand_model_B.t4_o * dx_hand_model_B.t12_o;
15660 dx_hand_model_B.t1254 = dx_hand_model_B.t1313 * dx_hand_model_B.t12_o;
15661 dx_hand_model_B.t1255 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;
15662 dx_hand_model_B.t27_m = (((((((((dx_hand_model_B.t749 +
15663 dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)
15664 + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -
15665 dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) +
15666 dx_hand_model_B.ComplextoRealImag1_d[2] * dx_hand_model_B.Sum_nf;
15667 dx_hand_model_B.t1261 = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)
15668 (dx_hand_model_B.t27_m * dx_hand_model_B.t27_m * dx_hand_model_B.t24_a +
15669 -dx_hand_model_B.t1212)));
15670 dx_hand_model_B.t24_a =
15671 ((((((((((((((((((((dx_hand_model_B.ComplextoRealImag_b[0] *
15672 dx_hand_model_B.t3 + dx_hand_model_B.ComplextoRealImag_b[0] *
15673 dx_hand_model_B.t7) + dx_hand_model_B.ComplextoRealImag_b[0] *
15674 dx_hand_model_B.t1313) +
15675 dx_hand_model_B.ComplextoRealImag_b[0] *
15676 dx_hand_model_B.Sum_nf) + dx_hand_model_B.t767_re) +
15677 dx_hand_model_B.t1309) + dx_hand_model_B.t794) +
15678 dx_hand_model_B.tmp_tmp_tmp_g) +
15679 dx_hand_model_B.tmp_tmp_tmp_ok *
15680 dx_hand_model_B.ComplextoRealImag_b[1]) +
15681 dx_hand_model_B.t766_re * dx_hand_model_B.ComplextoRealImag_b[1])
15682 + dx_hand_model_B.tmp_tmp_tmp_tmp *
15683 dx_hand_model_B.ComplextoRealImag_b[2]) +
15684 dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.ComplextoRealImag_b
15685 [2]) - dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
15686 dx_hand_model_B.t1313) -
15687 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *
15688 dx_hand_model_B.Sum_nf) - dx_hand_model_B.ComplextoRealImag1_d[0] *
15689 dx_hand_model_B.t3) - dx_hand_model_B.ComplextoRealImag1_d[0] *
15690 dx_hand_model_B.t7) - dx_hand_model_B.t763_re *
15691 dx_hand_model_B.ComplextoRealImag_b[1]) - dx_hand_model_B.t765_re *
15692 dx_hand_model_B.ComplextoRealImag_b[2]) - dx_hand_model_B.t9_tmp_n *
15693 dx_hand_model_B.ComplextoRealImag_b[0] * 2.0F) - dx_hand_model_B.t9_tmp_d
15694 * dx_hand_model_B.ComplextoRealImag_b[0] * 2.0F) -
15695 dx_hand_model_B.tmp_tmp_tmp_o2 * dx_hand_model_B.ComplextoRealImag_b[1]) -
15696 dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.ComplextoRealImag_b[2];
15697 dx_hand_model_B.t1212 = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1261 * 2.0F;
15698 dx_hand_model_B.t27_m = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1261 *
15699 2.0F;
15700 dx_hand_model_B.t17_f = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1261 *
15701 2.0F;
15702 dx_hand_model_B.t1309 = dx_hand_model_B.ComplextoRealImag1_d[1] *
15703 dx_hand_model_B.ComplextoRealImag_b[2];
15704 dx_hand_model_B.t28_h = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *
15705 dx_hand_model_B.ComplextoRealImag_b[1];
15706 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *
15707 dx_hand_model_B.ComplextoRealImag_b[2];
15708 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.ComplextoRealImag1_d[2] *
15709 dx_hand_model_B.ComplextoRealImag_b[1];
15710 dx_hand_model_B.t8_h =
15711 (((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp_a *
15712 dx_hand_model_B.Sum_nf + dx_hand_model_B.t1309 * dx_hand_model_B.t1313) +
15713 dx_hand_model_B.t764_re * dx_hand_model_B.t1313) +
15714 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t4_o) +
15715 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t1313) +
15716 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t7) +
15717 dx_hand_model_B.t1309 * dx_hand_model_B.DataTypeConversion5_n) +
15718 dx_hand_model_B.t28_h * dx_hand_model_B.t1313) + dx_hand_model_B.t1309 *
15719 dx_hand_model_B.t3) + dx_hand_model_B.t28_h * dx_hand_model_B.Sum_nf * 2.0F)
15720 + dx_hand_model_B.t1309 * dx_hand_model_B.t4_o) + dx_hand_model_B.t1309 *
15721 dx_hand_model_B.Sum_nf) + dx_hand_model_B.tmp_tmp_tmp_p *
15722 dx_hand_model_B.t8_h) + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) +
15723 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) +
15724 dx_hand_model_B.tmp_tmp_g3) + dx_hand_model_B.t1312 *
15725 dx_hand_model_B.ComplextoRealImag_b[0]) +
15726 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *
15727 dx_hand_model_B.ComplextoRealImag_b[2]) + dx_hand_model_B.t33_tmp *
15728 dx_hand_model_B.ComplextoRealImag_b[1] * 2.0F) +
15729 dx_hand_model_B.tmp_tmp_tmp_c1 * dx_hand_model_B.ComplextoRealImag_b[0]) +
15730 dx_hand_model_B.t34_tmp * dx_hand_model_B.ComplextoRealImag_b[1]) -
15731 dx_hand_model_B.t764_re * dx_hand_model_B.Sum_nf) -
15732 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t4_o) -
15733 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t1313) -
15734 dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.Sum_nf) -
15735 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t8_h) -
15736 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313 * 2.0F) -
15737 dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) -
15738 dx_hand_model_B.t28_h * dx_hand_model_B.t8_h) -
15739 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t3) -
15740 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *
15741 dx_hand_model_B.DataTypeConversion5_n) -
15742 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) -
15743 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) -
15744 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -
15745 dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t7) -
15746 dx_hand_model_B.t1309 * dx_hand_model_B.t8_h) -
15747 dx_hand_model_B.tmp_tmp_tmp_c) - dx_hand_model_B.tmp_tmp_tmp_b *
15748 dx_hand_model_B.ComplextoRealImag_b[0]) -
15749 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *
15750 dx_hand_model_B.ComplextoRealImag_b[1]) -
15751 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *
15752 dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F) - dx_hand_model_B.t766_re *
15753 dx_hand_model_B.ComplextoRealImag1_d[2] *
15754 dx_hand_model_B.ComplextoRealImag_b[0]) - dx_hand_model_B.tmp_tmp_tmp_kn *
15755 dx_hand_model_B.ComplextoRealImag_b[2]) * dx_hand_model_B.t1226;
15756 dx_hand_model_B.t1309 = dx_hand_model_B.DataTypeConversion5_n *
15757 dx_hand_model_B.t1261;
15758 dx_hand_model_B.t3 *= dx_hand_model_B.t1261;
15759 dx_hand_model_B.t28_h = dx_hand_model_B.t7 * dx_hand_model_B.t1261;
15760 dx_hand_model_B.t1312 = dx_hand_model_B.t4_o * dx_hand_model_B.t1261;
15761 dx_hand_model_B.t1313 *= dx_hand_model_B.t1261;
15762 dx_hand_model_B.t1261 *= dx_hand_model_B.Sum_nf;
15763 dx_hand_model_B.t7 = ((((((((((((((((((((dx_hand_model_B.ComplextoRealImag_b[1]
15764 * dx_hand_model_B.DataTypeConversion5_n +
15765 dx_hand_model_B.ComplextoRealImag_b[1] * dx_hand_model_B.t7) +
15766 dx_hand_model_B.ComplextoRealImag_b[1] * dx_hand_model_B.t4_o) +
15767 dx_hand_model_B.ComplextoRealImag_b[1] * dx_hand_model_B.Sum_nf) +
15768 dx_hand_model_B.t10_j) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) +
15769 dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) + dx_hand_model_B.tmp_tmp_tmp_kn)
15770 + dx_hand_model_B.tmp_tmp_tmp_ca) + dx_hand_model_B.tmp_tmp_tmp_ji) +
15771 dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.ComplextoRealImag_b[2])
15772 + dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.ComplextoRealImag_b[2]) -
15773 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * dx_hand_model_B.t4_o) -
15774 dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * dx_hand_model_B.Sum_nf) -
15775 dx_hand_model_B.ComplextoRealImag1_d[1] *
15776 dx_hand_model_B.DataTypeConversion5_n) -
15777 dx_hand_model_B.ComplextoRealImag1_d[1] * dx_hand_model_B.t7) -
15778 dx_hand_model_B.tmp_tmp_tmp_al) - dx_hand_model_B.t764_re *
15779 dx_hand_model_B.ComplextoRealImag_b[2]) - dx_hand_model_B.t9_tmp *
15780 dx_hand_model_B.ComplextoRealImag_b[1] * 2.0F) - dx_hand_model_B.t9_tmp_d *
15781 dx_hand_model_B.ComplextoRealImag_b[1] * 2.0F) -
15782 dx_hand_model_B.tmp_tmp_tmp_d) -
15783 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.ComplextoRealImag_b[2];
15784 dx_hand_model_B.t1328 = (((((((((dx_hand_model_B.t25_h - dx_hand_model_B.t1212)
15785 - dx_hand_model_B.t27_m) - dx_hand_model_B.t17_f) + dx_hand_model_B.t1309) +
15786 dx_hand_model_B.t3) + dx_hand_model_B.t28_h) + dx_hand_model_B.t1312) +
15787 dx_hand_model_B.t1313) + dx_hand_model_B.t1261) + dx_hand_model_B.t1256_tmp;
15788 dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = dx_hand_model_B.t9_l *
15789 dx_hand_model_B.t1328;
15790 dx_hand_model_B.DataTypeConversion5_n = ((((((((dx_hand_model_B.t10_tmp +
15791 dx_hand_model_B.t1212) + dx_hand_model_B.t27_m) + dx_hand_model_B.t17_f) -
15792 dx_hand_model_B.t1309) - dx_hand_model_B.t3) - dx_hand_model_B.t28_h) -
15793 dx_hand_model_B.t1312) - dx_hand_model_B.t1313) - dx_hand_model_B.t1261;
15794 dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =
15795 dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t9_l;
15796
15797 /* MATLAB Function: '<S233>/Get Min' */
15798 dx_hand_model_B.ixstart = 1;
15799 dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[0];
15800 dx_hand_model_B.i = 0;
15801 if (rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[0])) {
15802 dx_hand_model_B.ix = 2;
15803 exitg1 = false;
15804 while ((!exitg1) && (dx_hand_model_B.ix < 3)) {
15805 dx_hand_model_B.ixstart = 2;
15806 if (!rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[1])) {
15807 dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[1];
15808 dx_hand_model_B.i = 1;
15809 exitg1 = true;
15810 } else {
15811 dx_hand_model_B.ix = 3;
15812 }
15813 }
15814 }
15815
15816 if ((dx_hand_model_B.ixstart < 2) &&
15817 (dx_hand_model_B.TmpSignalConversionAtSFun_c[1] < dx_hand_model_B.t739)) {
15818 dx_hand_model_B.i = 1;
15819 }
15820
15821 /* MATLAB Function: '<S233>/Find K' */
15822 dx_hand_model_B.Sum_nf = dx_hand_model_B.t1226 * dx_hand_model_B.t9_l;
15823 dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.Sum_nf * dx_hand_model_B.t24_a;
15824 dx_hand_model_B.z_sol_l[0] = dx_hand_model_B.t1248 /
15825 (((((((((((((((((((((dx_hand_model_B.t13_b + dx_hand_model_B.t14_a) +
15826 dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +
15827 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +
15828 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +
15829 dx_hand_model_B.t33_tmp) + dx_hand_model_B.t34_tmp) +
15830 dx_hand_model_B.tmp_tmp_tmp_o) +
15831 dx_hand_model_B.tmp_tmp_tmp_py) +
15832 dx_hand_model_B.tmp_tmp_tmp_om) + dx_hand_model_B.tmp_tmp_tmp_cm)
15833 - dx_hand_model_B.xD1_tmp_tmp) -
15834 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -
15835 dx_hand_model_B.t749) - dx_hand_model_B.t26_tmp_g) -
15836 dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -
15837 dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e)
15838 - dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i) +
15839 ((((((((((dx_hand_model_B.t25_h + dx_hand_model_B.t1250) +
15840 dx_hand_model_B.t1251) + dx_hand_model_B.t1252) +
15841 dx_hand_model_B.t1253) + dx_hand_model_B.t1254) +
15842 dx_hand_model_B.t1255) + dx_hand_model_B.t1256_tmp) -
15843 dx_hand_model_B.t9_tmp * dx_hand_model_B.t12_o * 2.0F) -
15844 dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t12_o * 2.0F) -
15845 dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t12_o * 2.0F) *
15846 dx_hand_model_B.xD1_tmp_o;
15847 dx_hand_model_B.z_sol_l[1] = ((((((((((dx_hand_model_B.t25_h -
15848 dx_hand_model_B.t1250) - dx_hand_model_B.t1251) - dx_hand_model_B.t1252) -
15849 dx_hand_model_B.t1253) - dx_hand_model_B.t1254) - dx_hand_model_B.t1255) +
15850 dx_hand_model_B.t1256_tmp) + dx_hand_model_B.t1212) + dx_hand_model_B.t27_m)
15851 + dx_hand_model_B.t17_f) * dx_hand_model_B.xD1_tmp_o + dx_hand_model_B.t1226
15852 * dx_hand_model_B.t1248;
15853 dx_hand_model_B.t1309 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;
15854 dx_hand_model_B.t8_p[0] = dx_hand_model_B.t1309 * dx_hand_model_B.t1328 +
15855 dx_hand_model_B.t8_h;
15856 dx_hand_model_B.t8_p[1] = dx_hand_model_B.DataTypeConversion5_n *
15857 dx_hand_model_B.t1309 + dx_hand_model_B.t8_h;
15858
15859 /* MATLAB Function: '<S233>/Teorema Coseni' incorporates:
15860 * MATLAB Function: '<S233>/Get Min'
15861 */
15862 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.MCP[0] -
15863 dx_hand_model_B.z_sol_l[dx_hand_model_B.i];
15864 dx_hand_model_B.t1313 = dx_hand_model_B.MCP[1] -
15865 dx_hand_model_B.t8_p[dx_hand_model_B.i];
15866 dx_hand_model_B.Sum_nf = dx_hand_model_B.MCP[2] -
15867 dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.i];
15868 dx_hand_model_B.t3 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 -
15869 dx_hand_model_B.z_sol_l[dx_hand_model_B.i];
15870 dx_hand_model_B.t4_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 -
15871 dx_hand_model_B.t8_p[dx_hand_model_B.i];
15872 dx_hand_model_B.t7 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 -
15873 dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.i];
15874 dx_hand_model_B.t7 = (dx_hand_model_B.t3 * dx_hand_model_B.t3 +
15875 dx_hand_model_B.t4_o * dx_hand_model_B.t4_o) +
15876 dx_hand_model_B.t7 * dx_hand_model_B.t7;
15877 dx_hand_model_B.t3 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 -
15878 dx_hand_model_B.MCP[0];
15879 dx_hand_model_B.t4_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 -
15880 dx_hand_model_B.MCP[1];
15881 dx_hand_model_B.t12_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 -
15882 dx_hand_model_B.MCP[2];
15883 dx_hand_model_B.t3 = (dx_hand_model_B.t3 * dx_hand_model_B.t3 +
15884 dx_hand_model_B.t4_o * dx_hand_model_B.t4_o) +
15885 dx_hand_model_B.t12_o * dx_hand_model_B.t12_o;
15886 dx_hand_model_B.t476.re = ((-((dx_hand_model_B.DataTypeConversion5_n *
15887 dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.t1313 *
15888 dx_hand_model_B.t1313) + dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf) +
15889 dx_hand_model_B.t7) + dx_hand_model_B.t3) / ((real32_T)sqrt((real_T)
15890 (dx_hand_model_B.t7 * dx_hand_model_B.t3)) * 2.0F);
15891 if (!((real32_T)fabs((real_T)dx_hand_model_B.t476.re) > 1.0F)) {
15892 dx_hand_model_B.t476.re = (real32_T)acos((real_T)dx_hand_model_B.t476.re);
15893 } else {
15894 dx_hand_model_B.t756.re = 1.0F + dx_hand_model_B.t476.re;
15895 dx_hand_model_B.t756.im = 0.0F;
15896 dx_hand_model_sqrt_c(&dx_hand_model_B.t756);
15897 dx_hand_model_B.t476.re = 1.0F - dx_hand_model_B.t476.re;
15898 dx_hand_model_B.t476.im = 0.0F;
15899 dx_hand_model_sqrt_c(&dx_hand_model_B.t476);
15900 if (!((-dx_hand_model_B.t756.im == 0.0F) && (dx_hand_model_B.t476.im == 0.0F)))
15901 {
15902 dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t756.re *
15903 dx_hand_model_B.t476.im + -dx_hand_model_B.t756.im *
15904 dx_hand_model_B.t476.re;
15905 if ((!((!rtIsInfF(dx_hand_model_B.DataTypeConversion5_n)) && (!rtIsNaNF
15906 (dx_hand_model_B.DataTypeConversion5_n)))) && (!rtIsNaNF
15907 (dx_hand_model_B.t756.re)) && (!rtIsNaNF(-dx_hand_model_B.t756.im)) &&
15908 (!rtIsNaNF(dx_hand_model_B.t476.re)) && (!rtIsNaNF
15909 (dx_hand_model_B.t476.im))) {
15910 dx_hand_model_B.t7 = dx_hand_model_B.t756.re;
15911 dx_hand_model_B.t12_o = -dx_hand_model_B.t756.im;
15912 dx_hand_model_rescale_g(&dx_hand_model_B.t7, &dx_hand_model_B.t12_o);
15913 dx_hand_model_B.t14_a = dx_hand_model_B.t476.re;
15914 dx_hand_model_B.t15_g = dx_hand_model_B.t476.im;
15915 dx_hand_model_rescale_g(&dx_hand_model_B.t14_a, &dx_hand_model_B.t15_g);
15916 }
15917 }
15918
15919 dx_hand_model_B.t476.re = 2.0F * dx_hand_model_rt_atan2f_snf
15920 (dx_hand_model_B.t476.re, dx_hand_model_B.t756.re);
15921 }
15922
15923 /* Sum: '<S240>/Sum1' incorporates:
15924 * ComplexToRealImag: '<S231>/Complex to Real-Imag5'
15925 * MATLAB Function: '<S233>/Teorema Coseni'
15926 */
15927 dx_hand_model_B.Sum1_h += 3.14159274F - dx_hand_model_B.t476.re;
15928
15929 /* Sum: '<S240>/Sum5' incorporates:
15930 * ComplexToRealImag: '<S231>/Complex to Real-Imag1'
15931 * MATLAB Function: '<S233>/MATLAB Function'
15932 */
15933 dx_hand_model_B.Sum_a +=
15934 dx_hand_model_B.DataTypeConversion2_mj[dx_hand_model_B.k];
15935
15936 /* Start for MATLABSystem: '<S240>/Set Parameter' incorporates:
15937 * DataTypeConversion: '<S240>/Data Type Conversion2'
15938 */
15939 ParamSet_dx_hand_model_4969.set_parameter((real_T)dx_hand_model_B.Sum_a);
15940
15941 /* RateTransition: '<S314>/Rate Transition' incorporates:
15942 * RateTransition: '<S266>/Rate Transition'
15943 * RateTransition: '<S267>/Rate Transition'
15944 */
15945 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
15946 dx_hand_model_B.RateTransition_ap =
15947 dx_hand_model_DW.RateTransition_Buffer0_la;
15948 dx_hand_model_B.RateTransition_gb =
15949 dx_hand_model_DW.RateTransition_Buffer0_pq;
15950 dx_hand_model_B.RateTransition_ko0 =
15951 dx_hand_model_DW.RateTransition_Buffer0_ky;
15952 }
15953
15954 /* End of RateTransition: '<S314>/Rate Transition' */
15955
15956 /* Sum: '<S240>/Sum' incorporates:
15957 * DataTypeConversion: '<S314>/Data Type Conversion1'
15958 */
15959 dx_hand_model_B.Sum_a += (real32_T)dx_hand_model_B.RateTransition_ap;
15960
15961 /* Switch: '<S266>/Switch' incorporates:
15962 * Constant: '<S266>/Constant'
15963 * DataTypeConversion: '<S266>/Data Type Conversion1'
15964 * DataTypeConversion: '<S267>/Data Type Conversion1'
15965 * Gain: '<S228>/Gain'
15966 * Product: '<S267>/Product'
15967 */
15968 if ((real32_T)dx_hand_model_B.RateTransition_gb >
15969 dx_hand_model_P.Switch_Threshold_le) {
15970 dx_hand_model_B.Switch = dx_hand_model_P.Gain_Gain *
15971 dx_hand_model_B.In1_e.Data[0] * (real32_T)
15972 dx_hand_model_B.RateTransition_ko0;
15973 } else {
15974 dx_hand_model_B.Switch = dx_hand_model_P.Constant_Value_mw;
15975 }
15976
15977 /* End of Switch: '<S266>/Switch' */
15978
15979 /* Start for MATLABSystem: '<S268>/Set Parameter' incorporates:
15980 * DataTypeConversion: '<S268>/Data Type Conversion2'
15981 */
15982 ParamSet_dx_hand_model_2966.set_parameter((real_T)dx_hand_model_B.Delay_m[17]);
15983
15984 /* Start for MATLABSystem: '<S269>/Set Parameter' incorporates:
15985 * DataTypeConversion: '<S269>/Data Type Conversion2'
15986 */
15987 ParamSet_dx_hand_model_3023.set_parameter((real_T)dx_hand_model_B.Delay_m[18]);
15988
15989 /* Start for MATLABSystem: '<S270>/Set Parameter' incorporates:
15990 * DataTypeConversion: '<S270>/Data Type Conversion2'
15991 */
15992 ParamSet_dx_hand_model_3042.set_parameter((real_T)dx_hand_model_B.Delay_m[19]);
15993
15994 /* Start for MATLABSystem: '<S271>/Set Parameter' incorporates:
15995 * DataTypeConversion: '<S271>/Data Type Conversion2'
15996 */
15997 ParamSet_dx_hand_model_4262.set_parameter((real_T)dx_hand_model_B.Delay_m[20]);
15998
15999 /* Start for MATLABSystem: '<S272>/Set Parameter' incorporates:
16000 * DataTypeConversion: '<S272>/Data Type Conversion2'
16001 */
16002 ParamSet_dx_hand_model_4270.set_parameter((real_T)dx_hand_model_B.Delay_m[21]);
16003
16004 /* ManualSwitch: '<S239>/Manual Switch3' incorporates:
16005 * Constant: '<S239>/Constant3'
16006 * Constant: '<S239>/Constant4'
16007 */
16008 if (dx_hand_model_P.ManualSwitch3_CurrentSetting == 1) {
16009 dx_hand_model_B.t4 = dx_hand_model_P.Constant4_Value;
16010 } else {
16011 dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_m;
16012 }
16013
16014 /* End of ManualSwitch: '<S239>/Manual Switch3' */
16015
16016 /* Outputs for Enabled SubSystem: '<S239>/Subsystem2' incorporates:
16017 * EnablePort: '<S310>/Enable'
16018 */
16019 if (dx_hand_model_B.t4 > 0.0) {
16020 /* DataTypeConversion: '<S310>/Data Type Conversion1' incorporates:
16021 * DataTypeConversion: '<S239>/Data Type Conversion1'
16022 */
16023 dx_hand_model_B.DataTypeConversion1_k[0] = (real32_T)
16024 dx_hand_model_B.ManualSwitch2;
16025 dx_hand_model_B.DataTypeConversion1_k[1] = dx_hand_model_B.Delay_m[2];
16026
16027 /* ToFile: '<S310>/To File' */
16028 if (tid == 0 ) {
16029 {
16030 if (!(++dx_hand_model_DW.ToFile_IWORK.Decimation % 1) &&
16031 (dx_hand_model_DW.ToFile_IWORK.Count * (2 + 1)) + 1 < 100000000 ) {
16032 FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK.FilePtr;
16033 if (fp != (NULL)) {
16034 real_T u[2 + 1];
16035 dx_hand_model_DW.ToFile_IWORK.Decimation = 0;
16036 u[0] = (((dx_hand_model_M->Timing.clockTick0+
16037 dx_hand_model_M->Timing.clockTickH0* 4294967296.0)) * 0.01);
16038 u[1] = dx_hand_model_B.DataTypeConversion1_k[0];
16039 u[2] = dx_hand_model_B.DataTypeConversion1_k[1];
16040 if (fwrite(u, sizeof(real_T), 2 + 1, fp) != 2 + 1) {
16041 rtmSetErrorStatus(dx_hand_model_M,
16042 "Error writing to MAT-file thumb_force.mat");
16043 return;
16044 }
16045
16046 if (((++dx_hand_model_DW.ToFile_IWORK.Count) * (2 + 1))+1 >=
16047 100000000) {
16048 (void)fprintf(stdout,
16049 "*** The ToFile block will stop logging data before\n"
16050 " the simulation has ended, because it has reached\n"
16051 " the maximum number of elements (100000000)\n"
16052 " allowed in MAT-file thumb_force.mat.\n");
16053 }
16054 }
16055 }
16056 }
16057 }
16058 }
16059
16060 /* End of Outputs for SubSystem: '<S239>/Subsystem2' */
16061
16062 /* ManualSwitch: '<S1>/Manual Switch' incorporates:
16063 * Constant: '<S1>/Constant'
16064 * Constant: '<S1>/Constant1'
16065 */
16066 if (dx_hand_model_P.ManualSwitch_CurrentSetting_la == 1) {
16067 dx_hand_model_B.t4 = dx_hand_model_P.Constant1_Value;
16068 } else {
16069 dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_n;
16070 }
16071
16072 /* End of ManualSwitch: '<S1>/Manual Switch' */
16073
16074 /* Outputs for Enabled SubSystem: '<S1>/Thumb Exo Structure' incorporates:
16075 * EnablePort: '<S13>/Enable'
16076 */
16077 if (dx_hand_model_B.t4 > 0.0) {
16078 /* MATLAB Function: '<S227>/F transformation new' incorporates:
16079 * DataTypeConversion: '<S227>/Data Type Conversion2'
16080 */
16081 dx_hand_model_B.fv1[0] = -dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n /
16082 4.05648192E+31F - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l;
16083 dx_hand_model_B.fv1[4] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;
16084 dx_hand_model_B.fv1[8] = dx_hand_model_B.LDF_tmp;
16085 dx_hand_model_B.fv1[12] = 11.6672621F;
16086 dx_hand_model_B.fv1[1] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;
16087 dx_hand_model_B.fv1[5] = (-dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p /
16088 8.11296384E+31F - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g) -
16089 8.6595606E-17F;
16090 dx_hand_model_B.fv1[9] = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;
16091 dx_hand_model_B.fv1[13] = -1.42882748E-15F;
16092 dx_hand_model_B.fv1[2] = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l;
16093 dx_hand_model_B.fv1[6] = 0.707106769F - 7.02547E+15F * (real32_T)sin((real_T)
16094 (real32_T)dx_hand_model_B.ManualSwitch2) / 1.62259277E+32F;
16095 dx_hand_model_B.fv1[10] = 1.41421354F * (real32_T)sin((real_T)(real32_T)
16096 dx_hand_model_B.ManualSwitch2) / 2.0F + 4.3297803E-17F;
16097 dx_hand_model_B.fv1[14] = 11.6672621F;
16098 dx_hand_model_B.fv1[3] = 0.0F;
16099 dx_hand_model_B.fv1[7] = 0.0F;
16100 dx_hand_model_B.fv1[11] = 0.0F;
16101 dx_hand_model_B.fv1[15] = 1.0F;
16102
16103 /* DataTypeConversion: '<S13>/Data Type Conversion1' incorporates:
16104 * DataTypeConversion: '<S279>/Data Type Conversion1'
16105 * DataTypeConversion: '<S280>/Data Type Conversion1'
16106 * DataTypeConversion: '<S281>/Data Type Conversion1'
16107 */
16108 dx_hand_model_B.fv0[0] = (real32_T)dx_hand_model_B.RateTransition_nk;
16109 dx_hand_model_B.fv0[1] = (real32_T)dx_hand_model_B.RateTransition_mpf;
16110 dx_hand_model_B.fv0[2] = (real32_T)dx_hand_model_B.RateTransition_ko;
16111 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {
16112 /* MATLAB Function: '<S227>/F transformation new' incorporates:
16113 * DataTypeConversion: '<S13>/Data Type Conversion1'
16114 */
16115 dx_hand_model_B.t4_o = dx_hand_model_B.fv1[dx_hand_model_B.k + 12] +
16116 (dx_hand_model_B.fv1[dx_hand_model_B.k + 8] * 0.0F +
16117 (dx_hand_model_B.fv1[dx_hand_model_B.k + 4] * 0.0F +
16118 dx_hand_model_B.fv1[dx_hand_model_B.k] * 0.0F));
16119 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 =
16120 dx_hand_model_B.T_C[dx_hand_model_B.k + 12] +
16121 (dx_hand_model_B.T_C[dx_hand_model_B.k + 8] * 0.0F +
16122 (dx_hand_model_B.T_C[dx_hand_model_B.k + 4] * 0.0F +
16123 dx_hand_model_B.T_C[dx_hand_model_B.k] * 0.0F));
16124 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe =
16125 dx_hand_model_B.T_E[dx_hand_model_B.k + 12] +
16126 (dx_hand_model_B.T_E[dx_hand_model_B.k + 8] * 0.0F +
16127 (dx_hand_model_B.T_E[dx_hand_model_B.k + 4] * 0.0F +
16128 dx_hand_model_B.T_E[dx_hand_model_B.k] * 0.0F));
16129
16130 /* DataTypeConversion: '<S13>/Data Type Conversion1' incorporates:
16131 * ComplexToRealImag: '<S227>/Complex to Real-Imag'
16132 * ComplexToRealImag: '<S227>/Complex to Real-Imag1'
16133 * ComplexToRealImag: '<S227>/Complex to Real-Imag2'
16134 */
16135 dx_hand_model_B.fv0[dx_hand_model_B.k + 3] = dx_hand_model_B.t4_o;
16136 dx_hand_model_B.fv0[dx_hand_model_B.k + 7] =
16137 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;
16138 dx_hand_model_B.fv0[dx_hand_model_B.k + 11] =
16139 dx_hand_model_B.Memory_d[dx_hand_model_B.k];
16140 dx_hand_model_B.fv0[dx_hand_model_B.k + 15] =
16141 dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;
16142 dx_hand_model_B.fv0[dx_hand_model_B.k + 19] =
16143 dx_hand_model_B.Switch_i[dx_hand_model_B.k];
16144 dx_hand_model_B.fv0[dx_hand_model_B.k + 23] =
16145 dx_hand_model_B.Filt4_c[dx_hand_model_B.k];
16146 }
16147
16148 /* DataTypeConversion: '<S13>/Data Type Conversion1' incorporates:
16149 * ComplexToRealImag: '<S227>/Complex to Real-Imag10'
16150 * ComplexToRealImag: '<S227>/Complex to Real-Imag3'
16151 * ComplexToRealImag: '<S227>/Complex to Real-Imag4'
16152 * DataTypeConversion: '<S231>/Data Type Conversion1'
16153 * DataTypeConversion: '<S282>/Data Type Conversion1'
16154 * DataTypeConversion: '<S283>/Data Type Conversion1'
16155 * DataTypeConversion: '<S284>/Data Type Conversion1'
16156 * DataTypeConversion: '<S285>/Data Type Conversion1'
16157 * MATLAB Function: '<S233>/Get Min'
16158 */
16159 dx_hand_model_B.fv0[27] = dx_hand_model_B.ComplextoRealImag_b[0];
16160 dx_hand_model_B.fv0[30] = dx_hand_model_B.ComplextoRealImag1_d[0];
16161 dx_hand_model_B.fv0[33] = dx_hand_model_B.TmpSignalConversionAtSFun_h[0];
16162 dx_hand_model_B.fv0[28] = dx_hand_model_B.ComplextoRealImag_b[1];
16163 dx_hand_model_B.fv0[31] = dx_hand_model_B.ComplextoRealImag1_d[1];
16164 dx_hand_model_B.fv0[34] = dx_hand_model_B.TmpSignalConversionAtSFun_h[1];
16165 dx_hand_model_B.fv0[29] = dx_hand_model_B.ComplextoRealImag_b[2];
16166 dx_hand_model_B.fv0[32] = dx_hand_model_B.ComplextoRealImag1_d[2];
16167 dx_hand_model_B.fv0[35] = dx_hand_model_B.TmpSignalConversionAtSFun_h[2];
16168 dx_hand_model_B.fv0[36] = dx_hand_model_B.I[0];
16169 dx_hand_model_B.fv0[40] = dx_hand_model_B.J[0];
16170 dx_hand_model_B.fv0[44] = dx_hand_model_B.MCP[0];
16171 dx_hand_model_B.fv0[37] = dx_hand_model_B.I[1];
16172 dx_hand_model_B.fv0[41] = dx_hand_model_B.J[1];
16173 dx_hand_model_B.fv0[45] = dx_hand_model_B.MCP[1];
16174 dx_hand_model_B.fv0[38] = dx_hand_model_B.I[2];
16175 dx_hand_model_B.fv0[42] = dx_hand_model_B.J[2];
16176 dx_hand_model_B.fv0[46] = dx_hand_model_B.MCP[2];
16177 dx_hand_model_B.fv0[39] = dx_hand_model_B.I[3];
16178 dx_hand_model_B.fv0[43] = dx_hand_model_B.J[3];
16179 dx_hand_model_B.fv0[47] = 1.0F;
16180 dx_hand_model_B.fv0[48] = (real32_T)dx_hand_model_B.rtb_K_idx_0;
16181 dx_hand_model_B.fv0[51] = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;
16182 dx_hand_model_B.fv0[54] = dx_hand_model_B.z_sol_l[dx_hand_model_B.i];
16183 dx_hand_model_B.fv0[49] = (real32_T)dx_hand_model_B.rtb_K_idx_1;
16184 dx_hand_model_B.fv0[52] = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;
16185 dx_hand_model_B.fv0[55] = dx_hand_model_B.t8_p[dx_hand_model_B.i];
16186 dx_hand_model_B.fv0[50] = (real32_T)dx_hand_model_B.rtb_K_idx_2;
16187 dx_hand_model_B.fv0[53] = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;
16188 dx_hand_model_B.fv0[56] =
16189 dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.i];
16190 dx_hand_model_B.fv0[57] = (real32_T)dx_hand_model_B.RateTransition_gi;
16191 dx_hand_model_B.fv0[58] = (real32_T)dx_hand_model_B.RateTransition_nz;
16192 dx_hand_model_B.fv0[59] = (real32_T)dx_hand_model_B.RateTransition_jz;
16193 dx_hand_model_B.fv0[60] = (real32_T)dx_hand_model_B.RateTransition_kl;
16194 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 61; dx_hand_model_B.k++) {
16195 dx_hand_model_B.DataTypeConversion1_i[dx_hand_model_B.k] =
16196 dx_hand_model_B.fv0[dx_hand_model_B.k];
16197 }
16198
16199 /* ToFile: '<S13>/To File' */
16200 if (tid == 0 ) {
16201 {
16202 if (!(++dx_hand_model_DW.ToFile_IWORK_l.Decimation % 1) &&
16203 (dx_hand_model_DW.ToFile_IWORK_l.Count * (61 + 1)) + 1 < 100000000 )
16204 {
16205 FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK_p.FilePtr;
16206 if (fp != (NULL)) {
16207 real_T u[61 + 1];
16208 dx_hand_model_DW.ToFile_IWORK_l.Decimation = 0;
16209 u[0] = (((dx_hand_model_M->Timing.clockTick0+
16210 dx_hand_model_M->Timing.clockTickH0* 4294967296.0)) * 0.01);
16211 u[1] = dx_hand_model_B.DataTypeConversion1_i[0];
16212 u[2] = dx_hand_model_B.DataTypeConversion1_i[1];
16213 u[3] = dx_hand_model_B.DataTypeConversion1_i[2];
16214 u[4] = dx_hand_model_B.DataTypeConversion1_i[3];
16215 u[5] = dx_hand_model_B.DataTypeConversion1_i[4];
16216 u[6] = dx_hand_model_B.DataTypeConversion1_i[5];
16217 u[7] = dx_hand_model_B.DataTypeConversion1_i[6];
16218 u[8] = dx_hand_model_B.DataTypeConversion1_i[7];
16219 u[9] = dx_hand_model_B.DataTypeConversion1_i[8];
16220 u[10] = dx_hand_model_B.DataTypeConversion1_i[9];
16221 u[11] = dx_hand_model_B.DataTypeConversion1_i[10];
16222 u[12] = dx_hand_model_B.DataTypeConversion1_i[11];
16223 u[13] = dx_hand_model_B.DataTypeConversion1_i[12];
16224 u[14] = dx_hand_model_B.DataTypeConversion1_i[13];
16225 u[15] = dx_hand_model_B.DataTypeConversion1_i[14];
16226 u[16] = dx_hand_model_B.DataTypeConversion1_i[15];
16227 u[17] = dx_hand_model_B.DataTypeConversion1_i[16];
16228 u[18] = dx_hand_model_B.DataTypeConversion1_i[17];
16229 u[19] = dx_hand_model_B.DataTypeConversion1_i[18];
16230 u[20] = dx_hand_model_B.DataTypeConversion1_i[19];
16231 u[21] = dx_hand_model_B.DataTypeConversion1_i[20];
16232 u[22] = dx_hand_model_B.DataTypeConversion1_i[21];
16233 u[23] = dx_hand_model_B.DataTypeConversion1_i[22];
16234 u[24] = dx_hand_model_B.DataTypeConversion1_i[23];
16235 u[25] = dx_hand_model_B.DataTypeConversion1_i[24];
16236 u[26] = dx_hand_model_B.DataTypeConversion1_i[25];
16237 u[27] = dx_hand_model_B.DataTypeConversion1_i[26];
16238 u[28] = dx_hand_model_B.DataTypeConversion1_i[27];
16239 u[29] = dx_hand_model_B.DataTypeConversion1_i[28];
16240 u[30] = dx_hand_model_B.DataTypeConversion1_i[29];
16241 u[31] = dx_hand_model_B.DataTypeConversion1_i[30];
16242 u[32] = dx_hand_model_B.DataTypeConversion1_i[31];
16243 u[33] = dx_hand_model_B.DataTypeConversion1_i[32];
16244 u[34] = dx_hand_model_B.DataTypeConversion1_i[33];
16245 u[35] = dx_hand_model_B.DataTypeConversion1_i[34];
16246 u[36] = dx_hand_model_B.DataTypeConversion1_i[35];
16247 u[37] = dx_hand_model_B.DataTypeConversion1_i[36];
16248 u[38] = dx_hand_model_B.DataTypeConversion1_i[37];
16249 u[39] = dx_hand_model_B.DataTypeConversion1_i[38];
16250 u[40] = dx_hand_model_B.DataTypeConversion1_i[39];
16251 u[41] = dx_hand_model_B.DataTypeConversion1_i[40];
16252 u[42] = dx_hand_model_B.DataTypeConversion1_i[41];
16253 u[43] = dx_hand_model_B.DataTypeConversion1_i[42];
16254 u[44] = dx_hand_model_B.DataTypeConversion1_i[43];
16255 u[45] = dx_hand_model_B.DataTypeConversion1_i[44];
16256 u[46] = dx_hand_model_B.DataTypeConversion1_i[45];
16257 u[47] = dx_hand_model_B.DataTypeConversion1_i[46];
16258 u[48] = dx_hand_model_B.DataTypeConversion1_i[47];
16259 u[49] = dx_hand_model_B.DataTypeConversion1_i[48];
16260 u[50] = dx_hand_model_B.DataTypeConversion1_i[49];
16261 u[51] = dx_hand_model_B.DataTypeConversion1_i[50];
16262 u[52] = dx_hand_model_B.DataTypeConversion1_i[51];
16263 u[53] = dx_hand_model_B.DataTypeConversion1_i[52];
16264 u[54] = dx_hand_model_B.DataTypeConversion1_i[53];
16265 u[55] = dx_hand_model_B.DataTypeConversion1_i[54];
16266 u[56] = dx_hand_model_B.DataTypeConversion1_i[55];
16267 u[57] = dx_hand_model_B.DataTypeConversion1_i[56];
16268 u[58] = dx_hand_model_B.DataTypeConversion1_i[57];
16269 u[59] = dx_hand_model_B.DataTypeConversion1_i[58];
16270 u[60] = dx_hand_model_B.DataTypeConversion1_i[59];
16271 u[61] = dx_hand_model_B.DataTypeConversion1_i[60];
16272 if (fwrite(u, sizeof(real_T), 61 + 1, fp) != 61 + 1) {
16273 rtmSetErrorStatus(dx_hand_model_M,
16274 "Error writing to MAT-file exo_points.mat");
16275 return;
16276 }
16277
16278 if (((++dx_hand_model_DW.ToFile_IWORK_l.Count) * (61 + 1))+1 >=
16279 100000000) {
16280 (void)fprintf(stdout,
16281 "*** The ToFile block will stop logging data before\n"
16282 " the simulation has ended, because it has reached\n"
16283 " the maximum number of elements (100000000)\n"
16284 " allowed in MAT-file exo_points.mat.\n");
16285 }
16286 }
16287 }
16288 }
16289 }
16290 }
16291
16292 /* End of Outputs for SubSystem: '<S1>/Thumb Exo Structure' */
16293
16294 /* RateTransition: '<S10>/Rate Transition' */
16295 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16296 dx_hand_model_B.RateTransition_lw =
16297 dx_hand_model_DW.RateTransition_Buffer0_ma;
16298 }
16299
16300 /* End of RateTransition: '<S10>/Rate Transition' */
16301
16302 /* MATLAB Function: '<S14>/MATLAB Function - Assign' incorporates:
16303 * Constant: '<S15>/Constant'
16304 */
16305 dx_hand_model_B.msg_k = dx_hand_model_P.Constant_Value_m;
16306
16307 /* DataTypeConversion: '<S14>/Data Type Conversion' incorporates:
16308 * DataTypeConversion: '<S215>/Data Type Conversion'
16309 */
16310 dx_hand_model_B.t4_o = (real32_T)floor((real_T)dx_hand_model_B.Delay_m[0]);
16311 if (rtIsNaNF(dx_hand_model_B.t4_o) || rtIsInfF(dx_hand_model_B.t4_o)) {
16312 dx_hand_model_B.DataTypeConversion5_n = 0.0F;
16313 } else {
16314 dx_hand_model_B.DataTypeConversion5_n = (real32_T)fmod((real_T)
16315 dx_hand_model_B.t4_o, 4.294967296E+9);
16316 }
16317
16318 /* MATLAB Function: '<S14>/MATLAB Function - Assign' incorporates:
16319 * DataTypeConversion: '<S10>/Data Type Conversion4'
16320 * DataTypeConversion: '<S10>/Data Type Conversion5'
16321 * DataTypeConversion: '<S14>/Data Type Conversion'
16322 * Gain: '<S273>/Gain Aggiustato'
16323 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In1'
16324 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In2'
16325 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In3'
16326 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In4'
16327 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In5'
16328 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In6'
16329 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In7'
16330 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In2'
16331 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In3'
16332 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In4'
16333 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In6'
16334 * SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In7'
16335 * SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn1'
16336 * SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn2'
16337 * SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn3'
16338 * SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn4'
16339 * SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn7'
16340 */
16341 dx_hand_model_B.msg_k.Header.Seq = dx_hand_model_B.DataTypeConversion5_n <
16342 0.0F ? (uint32_T)-(int32_T)(uint32_T)-dx_hand_model_B.DataTypeConversion5_n :
16343 (uint32_T)dx_hand_model_B.DataTypeConversion5_n;
16344 dx_hand_model_B.msg_k.Header.Stamp = dx_hand_model_B.In1.Header.Stamp;
16345 dx_hand_model_B.msg_k.Position_SL_Info.CurrentLength = 9U;
16346 dx_hand_model_B.msg_k.Position[0] = dx_hand_model_B.Saturation3;
16347 dx_hand_model_B.msg_k.Position[1] = dx_hand_model_B.xH;
16348 dx_hand_model_B.msg_k.Position[2] = dx_hand_model_B.Saturation2_e;
16349 dx_hand_model_B.msg_k.Position[3] = dx_hand_model_B.Saturation2_k;
16350 dx_hand_model_B.msg_k.Position[4] = dx_hand_model_P.GainAggiustato_Gain_np *
16351 dx_hand_model_B.Delay_m[7];
16352 dx_hand_model_B.msg_k.Position[5] = (real32_T)
16353 dx_hand_model_B.RateTransition_lw;
16354 dx_hand_model_B.msg_k.Position[6] = dx_hand_model_B.Delay_m[26];
16355 dx_hand_model_B.msg_k.Velocity_SL_Info.CurrentLength = 9U;
16356 dx_hand_model_B.msg_k.Velocity[0] = (real32_T)dx_hand_model_B.Switch;
16357 dx_hand_model_B.msg_k.Velocity[1] = dx_hand_model_B.yH;
16358 dx_hand_model_B.msg_k.Velocity[2] = dx_hand_model_B.Saturation4_f;
16359 dx_hand_model_B.msg_k.Velocity[3] = dx_hand_model_B.Product_k;
16360 dx_hand_model_B.msg_k.Velocity[4] = (real32_T)dx_hand_model_B.Switch;
16361 dx_hand_model_B.msg_k.Velocity[5] = dx_hand_model_B.Delay_m[23];
16362 dx_hand_model_B.msg_k.Velocity[6] = dx_hand_model_B.Delay_m[22];
16363 dx_hand_model_B.msg_k.Effort_SL_Info.CurrentLength = 9U;
16364 dx_hand_model_B.msg_k.Effort[0] = dx_hand_model_B.Delay_m[2];
16365 dx_hand_model_B.msg_k.Effort[1] = dx_hand_model_B.Delay_m[3];
16366 dx_hand_model_B.msg_k.Effort[2] = dx_hand_model_B.Delay_m[4];
16367 dx_hand_model_B.msg_k.Effort[3] = dx_hand_model_B.Delay_m[5];
16368 dx_hand_model_B.msg_k.Effort[4] = dx_hand_model_B.Delay_m[6];
16369 dx_hand_model_B.msg_k.Effort[5] = dx_hand_model_B.Delay_m[24];
16370 dx_hand_model_B.msg_k.Effort[6] = dx_hand_model_B.Delay_m[25];
16371 dx_hand_model_B.msg_k.Name_SL_Info.CurrentLength = 7U;
16372 dx_hand_model_B.msg_k.Name[0].Data[0] = 84U;
16373 dx_hand_model_B.msg_k.Name[0].Data_SL_Info.CurrentLength = 1U;
16374 dx_hand_model_B.msg_k.Name[1].Data[0] = 73U;
16375 dx_hand_model_B.msg_k.Name[1].Data_SL_Info.CurrentLength = 1U;
16376 dx_hand_model_B.msg_k.Name[2].Data[0] = 77U;
16377 dx_hand_model_B.msg_k.Name[2].Data_SL_Info.CurrentLength = 1U;
16378 dx_hand_model_B.msg_k.Name[3].Data[0] = 82U;
16379 dx_hand_model_B.msg_k.Name[3].Data_SL_Info.CurrentLength = 1U;
16380 dx_hand_model_B.msg_k.Name[4].Data[0] = 80U;
16381 dx_hand_model_B.msg_k.Name[4].Data_SL_Info.CurrentLength = 1U;
16382 dx_hand_model_B.msg_k.Name[5].Data[0] = 111U;
16383 dx_hand_model_B.msg_k.Name[5].Data_SL_Info.CurrentLength = 1U;
16384 dx_hand_model_B.msg_k.Name[6].Data[0] = 111U;
16385 dx_hand_model_B.msg_k.Name[6].Data_SL_Info.CurrentLength = 1U;
16386
16387 /* Outputs for Atomic SubSystem: '<S14>/Publish1' */
16388 /* Start for MATLABSystem: '<S17>/SinkBlock' */
16389 Pub_dx_hand_model_3422.publish(&dx_hand_model_B.msg_k);
16390
16391 /* End of Outputs for SubSystem: '<S14>/Publish1' */
16392
16393 /* Sum: '<S3>/Sum' incorporates:
16394 * Constant: '<S3>/Constant'
16395 * Constant: '<S3>/Constant1'
16396 * Constant: '<S3>/Constant2'
16397 * Constant: '<S3>/Constant3'
16398 * MATLAB Function: '<S3>/MATLAB Function'
16399 */
16400 dx_hand_model_B.Saturation3 = (1.0F - (dx_hand_model_B.Delay_m[12] -
16401 dx_hand_model_P.Constant1_Value_n1) / (dx_hand_model_P.Constant2_Value_e -
16402 dx_hand_model_P.Constant1_Value_n1)) * dx_hand_model_P.Constant3_Value_i +
16403 dx_hand_model_P.Constant_Value_e0;
16404
16405 /* Saturate: '<S3>/Saturation' */
16406 if (dx_hand_model_B.Saturation3 > dx_hand_model_P.Saturation_UpperSat_m) {
16407 dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation_UpperSat_m;
16408 } else {
16409 if (dx_hand_model_B.Saturation3 < dx_hand_model_P.Saturation_LowerSat_k) {
16410 dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation_LowerSat_k;
16411 }
16412 }
16413
16414 /* End of Saturate: '<S3>/Saturation' */
16415
16416 /* SignalConversion: '<S10>/TmpSignal ConversionAtDelayInport1' incorporates:
16417 * Constant: '<S10>/Constant'
16418 * DataTypeConversion: '<S10>/Data Type Conversion4'
16419 * DataTypeConversion: '<S10>/Data Type Conversion5'
16420 */
16421 dx_hand_model_B.TmpSignalConversionAtDelayI[0] = dx_hand_model_B.Delay_m[0];
16422 dx_hand_model_B.TmpSignalConversionAtDelayI[1] = (real32_T)
16423 dx_hand_model_B.RateTransition_lw;
16424 dx_hand_model_B.TmpSignalConversionAtDelayI[2] = (real32_T)
16425 dx_hand_model_B.Switch;
16426 dx_hand_model_B.TmpSignalConversionAtDelayI[3] = dx_hand_model_B.Switch_n;
16427 dx_hand_model_B.TmpSignalConversionAtDelayI[4] = dx_hand_model_B.yH;
16428 dx_hand_model_B.TmpSignalConversionAtDelayI[5] = dx_hand_model_B.Saturation4_f;
16429 dx_hand_model_B.TmpSignalConversionAtDelayI[6] = dx_hand_model_B.Product_k;
16430 dx_hand_model_B.TmpSignalConversionAtDelayI[7] =
16431 dx_hand_model_P.Constant_Value_oa;
16432 dx_hand_model_B.TmpSignalConversionAtDelayI[8] =
16433 dx_hand_model_P.Constant_Value_oa;
16434 dx_hand_model_B.TmpSignalConversionAtDelayI[9] = 0.0F;
16435 dx_hand_model_B.TmpSignalConversionAtDelayI[10] =
16436 dx_hand_model_P.Constant_Value_oa;
16437 dx_hand_model_B.TmpSignalConversionAtDelayI[11] =
16438 dx_hand_model_P.Constant_Value_oa;
16439
16440 /* RateTransition: '<S10>/Rate Transition1' */
16441 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16442 dx_hand_model_B.RateTransition1_e =
16443 dx_hand_model_DW.RateTransition1_Buffer0_g;
16444 }
16445
16446 /* End of RateTransition: '<S10>/Rate Transition1' */
16447
16448 /* Delay: '<S10>/Delay' incorporates:
16449 * DataTypeConversion: '<S10>/Data Type Conversion6'
16450 */
16451 if (((real32_T)dx_hand_model_B.RateTransition1_e < 1.0F) || rtIsNaNF((real32_T)
16452 dx_hand_model_B.RateTransition1_e)) {
16453 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 12; dx_hand_model_B.i++) {
16454 dx_hand_model_B.Delay[dx_hand_model_B.i] =
16455 dx_hand_model_B.TmpSignalConversionAtDelayI[dx_hand_model_B.i];
16456 }
16457 } else {
16458 if ((real32_T)dx_hand_model_B.RateTransition1_e > 100.0F) {
16459 dx_hand_model_B.u0_i = 100U;
16460 } else {
16461 if ((real32_T)dx_hand_model_B.RateTransition1_e < 0.0F) {
16462 dx_hand_model_B.DataTypeConversion5_n = (real32_T)ceil((real_T)(real32_T)
16463 dx_hand_model_B.RateTransition1_e);
16464 } else {
16465 dx_hand_model_B.DataTypeConversion5_n = (real32_T)floor((real_T)
16466 (real32_T)dx_hand_model_B.RateTransition1_e);
16467 }
16468
16469 if (rtIsNaNF(dx_hand_model_B.DataTypeConversion5_n) || rtIsInfF
16470 (dx_hand_model_B.DataTypeConversion5_n)) {
16471 dx_hand_model_B.DataTypeConversion5_n = 0.0F;
16472 } else {
16473 dx_hand_model_B.DataTypeConversion5_n = (real32_T)fmod((real_T)
16474 dx_hand_model_B.DataTypeConversion5_n, 4.294967296E+9);
16475 }
16476
16477 dx_hand_model_B.u0_i = dx_hand_model_B.DataTypeConversion5_n < 0.0F ?
16478 (uint32_T)-(int32_T)(uint32_T)-dx_hand_model_B.DataTypeConversion5_n :
16479 (uint32_T)dx_hand_model_B.DataTypeConversion5_n;
16480 }
16481
16482 dx_hand_model_B.i = (int32_T)(100U - dx_hand_model_B.u0_i) * 12;
16483 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 12; dx_hand_model_B.k++) {
16484 dx_hand_model_B.Delay[dx_hand_model_B.k] =
16485 dx_hand_model_DW.Delay_DSTATE_j[dx_hand_model_B.k + dx_hand_model_B.i];
16486 }
16487 }
16488
16489 /* End of Delay: '<S10>/Delay' */
16490
16491 /* S-Function (any2byte): '<S10>/Byte Pack' */
16492
16493 /* Pack: <S10>/Byte Pack */
16494 (void) memcpy(&dx_hand_model_B.BytePack[0], &dx_hand_model_B.Delay[0],
16495 48);
16496
16497 /* DiscreteTransferFcn: '<S216>/Filt 6' */
16498 dx_hand_model_B.k = 0;
16499 while (dx_hand_model_B.k < 1) {
16500 dx_hand_model_B.Filt6 = dx_hand_model_P.Filt6_NumCoef[1] *
16501 dx_hand_model_DW.Filt6_states;
16502 dx_hand_model_B.k++;
16503 }
16504
16505 /* RateTransition: '<S221>/Rate Transition' */
16506 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16507 dx_hand_model_B.RateTransition_dwi =
16508 dx_hand_model_DW.RateTransition_Buffer0_m3;
16509 }
16510
16511 /* End of RateTransition: '<S221>/Rate Transition' */
16512
16513 /* Switch: '<S221>/Switch1' incorporates:
16514 * Constant: '<S221>/Constant'
16515 */
16516 if (dx_hand_model_B.RateTransition_dwi > dx_hand_model_P.Switch1_Threshold) {
16517 /* Saturate: '<S216>/Saturation' */
16518 if (dx_hand_model_B.Filt6 > dx_hand_model_P.Saturation_UpperSat) {
16519 dx_hand_model_B.Filt6 = dx_hand_model_P.Saturation_UpperSat;
16520 } else {
16521 if (dx_hand_model_B.Filt6 < dx_hand_model_P.Saturation_LowerSat) {
16522 dx_hand_model_B.Filt6 = dx_hand_model_P.Saturation_LowerSat;
16523 }
16524 }
16525
16526 /* End of Saturate: '<S216>/Saturation' */
16527 } else {
16528 dx_hand_model_B.Filt6 = dx_hand_model_P.Constant_Value_nd;
16529 }
16530
16531 /* End of Switch: '<S221>/Switch1' */
16532
16533 /* DiscreteTransferFcn: '<S216>/Filt 5' */
16534 dx_hand_model_B.k = 0;
16535 while (dx_hand_model_B.k < 1) {
16536 dx_hand_model_B.Filt5 = dx_hand_model_P.Filt5_NumCoef[1] *
16537 dx_hand_model_DW.Filt5_states;
16538 dx_hand_model_B.k++;
16539 }
16540
16541 /* Switch: '<S221>/Switch' incorporates:
16542 * Constant: '<S221>/Constant1'
16543 */
16544 if (dx_hand_model_B.RateTransition_dwi > dx_hand_model_P.Switch_Threshold) {
16545 /* Saturate: '<S216>/Saturation1' */
16546 if (dx_hand_model_B.Filt5 > dx_hand_model_P.Saturation1_UpperSat) {
16547 dx_hand_model_B.Filt5 = dx_hand_model_P.Saturation1_UpperSat;
16548 } else {
16549 if (dx_hand_model_B.Filt5 < dx_hand_model_P.Saturation1_LowerSat_o) {
16550 dx_hand_model_B.Filt5 = dx_hand_model_P.Saturation1_LowerSat_o;
16551 }
16552 }
16553
16554 /* End of Saturate: '<S216>/Saturation1' */
16555 } else {
16556 dx_hand_model_B.Filt5 = dx_hand_model_P.Constant1_Value_b;
16557 }
16558
16559 /* End of Switch: '<S221>/Switch' */
16560
16561 /* DiscreteTransferFcn: '<S216>/Filt 4' */
16562 dx_hand_model_B.k = 0;
16563 while (dx_hand_model_B.k < 1) {
16564 dx_hand_model_B.Filt4 = dx_hand_model_P.Filt4_NumCoef_p[1] *
16565 dx_hand_model_DW.Filt4_states_gz;
16566 dx_hand_model_B.k++;
16567 }
16568
16569 /* RateTransition: '<S222>/Rate Transition' */
16570 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16571 dx_hand_model_B.RateTransition_ec =
16572 dx_hand_model_DW.RateTransition_Buffer0_ax;
16573 }
16574
16575 /* End of RateTransition: '<S222>/Rate Transition' */
16576
16577 /* Switch: '<S222>/Switch1' incorporates:
16578 * Constant: '<S222>/Constant'
16579 */
16580 if (dx_hand_model_B.RateTransition_ec > dx_hand_model_P.Switch1_Threshold_g) {
16581 /* Saturate: '<S216>/Saturation2' */
16582 if (dx_hand_model_B.Filt4 > dx_hand_model_P.Saturation2_UpperSat_l) {
16583 dx_hand_model_B.Filt4 = dx_hand_model_P.Saturation2_UpperSat_l;
16584 } else {
16585 if (dx_hand_model_B.Filt4 < dx_hand_model_P.Saturation2_LowerSat_c) {
16586 dx_hand_model_B.Filt4 = dx_hand_model_P.Saturation2_LowerSat_c;
16587 }
16588 }
16589
16590 /* End of Saturate: '<S216>/Saturation2' */
16591 } else {
16592 dx_hand_model_B.Filt4 = dx_hand_model_P.Constant_Value_j3;
16593 }
16594
16595 /* End of Switch: '<S222>/Switch1' */
16596
16597 /* DiscreteTransferFcn: '<S216>/Filt 3' */
16598 dx_hand_model_B.k = 0;
16599 while (dx_hand_model_B.k < 1) {
16600 dx_hand_model_B.Filt3 = dx_hand_model_P.Filt3_NumCoef[1] *
16601 dx_hand_model_DW.Filt3_states;
16602 dx_hand_model_B.k++;
16603 }
16604
16605 /* Switch: '<S222>/Switch' incorporates:
16606 * Constant: '<S222>/Constant'
16607 */
16608 if (dx_hand_model_B.RateTransition_ec > dx_hand_model_P.Switch_Threshold_b) {
16609 /* Saturate: '<S216>/Saturation3' */
16610 if (dx_hand_model_B.Filt3 > dx_hand_model_P.Saturation3_UpperSat) {
16611 dx_hand_model_B.Filt3 = dx_hand_model_P.Saturation3_UpperSat;
16612 } else {
16613 if (dx_hand_model_B.Filt3 < dx_hand_model_P.Saturation3_LowerSat) {
16614 dx_hand_model_B.Filt3 = dx_hand_model_P.Saturation3_LowerSat;
16615 }
16616 }
16617
16618 /* End of Saturate: '<S216>/Saturation3' */
16619 } else {
16620 dx_hand_model_B.Filt3 = dx_hand_model_P.Constant_Value_j3;
16621 }
16622
16623 /* End of Switch: '<S222>/Switch' */
16624
16625 /* DiscreteTransferFcn: '<S216>/Filt 2' */
16626 dx_hand_model_B.k = 0;
16627 while (dx_hand_model_B.k < 1) {
16628 dx_hand_model_B.Filt2 = dx_hand_model_P.Filt2_NumCoef[1] *
16629 dx_hand_model_DW.Filt2_states;
16630 dx_hand_model_B.k++;
16631 }
16632
16633 /* RateTransition: '<S223>/Rate Transition' */
16634 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16635 dx_hand_model_B.RateTransition_lo =
16636 dx_hand_model_DW.RateTransition_Buffer0_pa;
16637 }
16638
16639 /* End of RateTransition: '<S223>/Rate Transition' */
16640
16641 /* Switch: '<S223>/Switch1' incorporates:
16642 * Constant: '<S223>/Constant'
16643 */
16644 if (dx_hand_model_B.RateTransition_lo > dx_hand_model_P.Switch1_Threshold_a) {
16645 /* Saturate: '<S216>/Saturation4' */
16646 if (dx_hand_model_B.Filt2 > dx_hand_model_P.Saturation4_UpperSat) {
16647 dx_hand_model_B.Filt2 = dx_hand_model_P.Saturation4_UpperSat;
16648 } else {
16649 if (dx_hand_model_B.Filt2 < dx_hand_model_P.Saturation4_LowerSat) {
16650 dx_hand_model_B.Filt2 = dx_hand_model_P.Saturation4_LowerSat;
16651 }
16652 }
16653
16654 /* End of Saturate: '<S216>/Saturation4' */
16655 } else {
16656 dx_hand_model_B.Filt2 = dx_hand_model_P.Constant_Value_cs;
16657 }
16658
16659 /* End of Switch: '<S223>/Switch1' */
16660
16661 /* DiscreteTransferFcn: '<S216>/Filt 1' */
16662 dx_hand_model_B.k = 0;
16663 while (dx_hand_model_B.k < 1) {
16664 dx_hand_model_B.Filt1 = dx_hand_model_P.Filt1_NumCoef[1] *
16665 dx_hand_model_DW.Filt1_states;
16666 dx_hand_model_B.k++;
16667 }
16668
16669 /* Switch: '<S223>/Switch' incorporates:
16670 * Constant: '<S223>/Constant'
16671 */
16672 if (dx_hand_model_B.RateTransition_lo > dx_hand_model_P.Switch_Threshold_n) {
16673 /* Saturate: '<S216>/Saturation5' */
16674 if (dx_hand_model_B.Filt1 > dx_hand_model_P.Saturation5_UpperSat) {
16675 dx_hand_model_B.Filt1 = dx_hand_model_P.Saturation5_UpperSat;
16676 } else {
16677 if (dx_hand_model_B.Filt1 < dx_hand_model_P.Saturation5_LowerSat) {
16678 dx_hand_model_B.Filt1 = dx_hand_model_P.Saturation5_LowerSat;
16679 }
16680 }
16681
16682 /* End of Saturate: '<S216>/Saturation5' */
16683 } else {
16684 dx_hand_model_B.Filt1 = dx_hand_model_P.Constant_Value_cs;
16685 }
16686
16687 /* End of Switch: '<S223>/Switch' */
16688
16689 /* RateTransition: '<S224>/Rate Transition' incorporates:
16690 * RateTransition: '<S225>/Rate Transition'
16691 */
16692 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16693 dx_hand_model_B.RateTransition_dbs =
16694 dx_hand_model_DW.RateTransition_Buffer0_kc;
16695 dx_hand_model_B.RateTransition_j2 =
16696 dx_hand_model_DW.RateTransition_Buffer0_c2;
16697 }
16698
16699 /* End of RateTransition: '<S224>/Rate Transition' */
16700
16701 /* Switch: '<S224>/Switch1' incorporates:
16702 * Constant: '<S224>/Constant'
16703 */
16704 if (dx_hand_model_B.RateTransition_dbs > dx_hand_model_P.Switch1_Threshold_d)
16705 {
16706 /* Switch: '<S170>/Switch' incorporates:
16707 * DataTypeConversion: '<S170>/Data Type Conversion1'
16708 * Gain: '<S9>/Gain Aggiustato'
16709 * Gain: '<S9>/Gain1'
16710 */
16711 if (!((real32_T)dx_hand_model_B.RateTransition_is >
16712 dx_hand_model_P.Switch_Threshold_kr)) {
16713 dx_hand_model_B.Product_f = dx_hand_model_P.GainAggiustato_Gain *
16714 dx_hand_model_B.Delay_m[10] * dx_hand_model_P.Gain1_Gain_i;
16715 }
16716
16717 /* End of Switch: '<S170>/Switch' */
16718
16719 /* Saturate: '<S216>/Saturation6' */
16720 if (dx_hand_model_B.Product_f > dx_hand_model_P.Saturation6_UpperSat) {
16721 dx_hand_model_B.Product_f = dx_hand_model_P.Saturation6_UpperSat;
16722 } else {
16723 if (dx_hand_model_B.Product_f < dx_hand_model_P.Saturation6_LowerSat) {
16724 dx_hand_model_B.Product_f = dx_hand_model_P.Saturation6_LowerSat;
16725 }
16726 }
16727
16728 /* End of Saturate: '<S216>/Saturation6' */
16729 } else {
16730 dx_hand_model_B.Product_f = dx_hand_model_P.Constant_Value_fp;
16731 }
16732
16733 /* End of Switch: '<S224>/Switch1' */
16734
16735 /* Switch: '<S225>/Switch1' incorporates:
16736 * Constant: '<S225>/Constant'
16737 */
16738 if (dx_hand_model_B.RateTransition_j2 > dx_hand_model_P.Switch1_Threshold_f) {
16739 /* Switch: '<S125>/Switch' incorporates:
16740 * DataTypeConversion: '<S125>/Data Type Conversion1'
16741 * Gain: '<S8>/Gain Aggiustato'
16742 * Gain: '<S8>/Gain1'
16743 */
16744 if (!((real32_T)dx_hand_model_B.RateTransition_em >
16745 dx_hand_model_P.Switch_Threshold_e5)) {
16746 dx_hand_model_B.LDG = dx_hand_model_P.GainAggiustato_Gain_n *
16747 dx_hand_model_B.Delay_m[11] * dx_hand_model_P.Gain1_Gain_k;
16748 }
16749
16750 /* End of Switch: '<S125>/Switch' */
16751
16752 /* Saturate: '<S216>/Saturation7' */
16753 if (dx_hand_model_B.LDG > dx_hand_model_P.Saturation7_UpperSat) {
16754 dx_hand_model_B.LDG = dx_hand_model_P.Saturation7_UpperSat;
16755 } else {
16756 if (dx_hand_model_B.LDG < dx_hand_model_P.Saturation7_LowerSat) {
16757 dx_hand_model_B.LDG = dx_hand_model_P.Saturation7_LowerSat;
16758 }
16759 }
16760
16761 /* End of Saturate: '<S216>/Saturation7' */
16762 } else {
16763 dx_hand_model_B.LDG = dx_hand_model_P.Constant_Value_fn;
16764 }
16765
16766 /* End of Switch: '<S225>/Switch1' */
16767
16768 /* DiscreteTransferFcn: '<S216>/Filt 8' */
16769 dx_hand_model_B.k = 0;
16770 while (dx_hand_model_B.k < 1) {
16771 dx_hand_model_B.Filt8 = dx_hand_model_P.Filt8_NumCoef[1] *
16772 dx_hand_model_DW.Filt8_states;
16773 dx_hand_model_B.k++;
16774 }
16775
16776 /* RateTransition: '<S226>/Rate Transition' */
16777 if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {
16778 dx_hand_model_B.RateTransition_l2 =
16779 dx_hand_model_DW.RateTransition_Buffer0_o0;
16780 }
16781
16782 /* End of RateTransition: '<S226>/Rate Transition' */
16783
16784 /* Switch: '<S226>/Switch1' incorporates:
16785 * Constant: '<S226>/Constant'
16786 */
16787 if (dx_hand_model_B.RateTransition_l2 > dx_hand_model_P.Switch1_Threshold_c) {
16788 /* Saturate: '<S216>/Saturation8' */
16789 if (dx_hand_model_B.Filt8 > dx_hand_model_P.Saturation8_UpperSat) {
16790 dx_hand_model_B.Filt8 = dx_hand_model_P.Saturation8_UpperSat;
16791 } else {
16792 if (dx_hand_model_B.Filt8 < dx_hand_model_P.Saturation8_LowerSat) {
16793 dx_hand_model_B.Filt8 = dx_hand_model_P.Saturation8_LowerSat;
16794 }
16795 }
16796
16797 /* End of Saturate: '<S216>/Saturation8' */
16798 } else {
16799 dx_hand_model_B.Filt8 = dx_hand_model_P.Constant_Value_hk;
16800 }
16801
16802 /* End of Switch: '<S226>/Switch1' */
16803
16804 /* MATLAB Function: '<S215>/MATLAB Function - Assign' incorporates:
16805 * Constant: '<S217>/Constant'
16806 */
16807 dx_hand_model_B.msg_k = dx_hand_model_P.Constant_Value_h;
16808
16809 /* DataTypeConversion: '<S215>/Data Type Conversion' */
16810 if (rtIsNaNF(dx_hand_model_B.t4_o) || rtIsInfF(dx_hand_model_B.t4_o)) {
16811 dx_hand_model_B.t4_o = 0.0F;
16812 } else {
16813 dx_hand_model_B.t4_o = (real32_T)fmod((real_T)dx_hand_model_B.t4_o,
16814 4.294967296E+9);
16815 }
16816
16817 /* MATLAB Function: '<S215>/MATLAB Function - Assign' incorporates:
16818 * DataTypeConversion: '<S215>/Data Type Conversion'
16819 */
16820 dx_hand_model_B.msg_k.Header.Seq = dx_hand_model_B.t4_o < 0.0F ? (uint32_T)
16821 -(int32_T)(uint32_T)-dx_hand_model_B.t4_o : (uint32_T)dx_hand_model_B.t4_o;
16822 dx_hand_model_B.msg_k.Header.Stamp = dx_hand_model_B.In1.Header.Stamp;
16823 dx_hand_model_B.msg_k.Position_SL_Info.CurrentLength = 9U;
16824 dx_hand_model_B.msg_k.Position[0] = dx_hand_model_B.Filt6;
16825 dx_hand_model_B.msg_k.Position[1] = dx_hand_model_B.Filt5;
16826 dx_hand_model_B.msg_k.Position[2] = dx_hand_model_B.Filt4;
16827 dx_hand_model_B.msg_k.Position[3] = dx_hand_model_B.Filt3;
16828 dx_hand_model_B.msg_k.Position[4] = dx_hand_model_B.Filt2;
16829 dx_hand_model_B.msg_k.Position[5] = dx_hand_model_B.Filt1;
16830 dx_hand_model_B.msg_k.Position[6] = dx_hand_model_B.Product_f;
16831 dx_hand_model_B.msg_k.Position[7] = dx_hand_model_B.LDG;
16832 dx_hand_model_B.msg_k.Position[8] = dx_hand_model_B.Filt8;
16833 dx_hand_model_B.msg_k.Velocity_SL_Info.CurrentLength = 9U;
16834 dx_hand_model_B.msg_k.Effort_SL_Info.CurrentLength = 9U;
16835 memset(&dx_hand_model_B.msg_k.Velocity[0], 0, 9U * sizeof(real_T));
16836 memset(&dx_hand_model_B.msg_k.Effort[0], 0, 9U * sizeof(real_T));
16837 dx_hand_model_B.msg_k.Name_SL_Info.CurrentLength = 9U;
16838 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 24; dx_hand_model_B.k++) {
16839 dx_hand_model_B.msg_k.Name[0].Data[dx_hand_model_B.k] = (uint8_T)
16840 b_0[dx_hand_model_B.k];
16841 }
16842
16843 dx_hand_model_B.msg_k.Name[0].Data_SL_Info.CurrentLength = 24U;
16844 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 27; dx_hand_model_B.k++) {
16845 dx_hand_model_B.msg_k.Name[1].Data[dx_hand_model_B.k] = (uint8_T)
16846 c_0[dx_hand_model_B.k];
16847 }
16848
16849 dx_hand_model_B.msg_k.Name[1].Data_SL_Info.CurrentLength = 27U;
16850 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 30; dx_hand_model_B.k++) {
16851 dx_hand_model_B.msg_k.Name[2].Data[dx_hand_model_B.k] = (uint8_T)
16852 d_0[dx_hand_model_B.k];
16853 }
16854
16855 dx_hand_model_B.msg_k.Name[2].Data_SL_Info.CurrentLength = 30U;
16856 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 32; dx_hand_model_B.k++) {
16857 dx_hand_model_B.msg_k.Name[3].Data[dx_hand_model_B.k] = (uint8_T)
16858 e_0[dx_hand_model_B.k];
16859 }
16860
16861 dx_hand_model_B.msg_k.Name[3].Data_SL_Info.CurrentLength = 32U;
16862 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 31; dx_hand_model_B.k++) {
16863 dx_hand_model_B.msg_k.Name[4].Data[dx_hand_model_B.k] = (uint8_T)
16864 f_0[dx_hand_model_B.k];
16865 }
16866
16867 dx_hand_model_B.msg_k.Name[4].Data_SL_Info.CurrentLength = 31U;
16868 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 33; dx_hand_model_B.k++) {
16869 dx_hand_model_B.msg_k.Name[5].Data[dx_hand_model_B.k] = (uint8_T)
16870 g_0[dx_hand_model_B.k];
16871 }
16872
16873 dx_hand_model_B.msg_k.Name[5].Data_SL_Info.CurrentLength = 33U;
16874 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 22; dx_hand_model_B.k++) {
16875 dx_hand_model_B.msg_k.Name[6].Data[dx_hand_model_B.k] = (uint8_T)
16876 h[dx_hand_model_B.k];
16877 }
16878
16879 dx_hand_model_B.msg_k.Name[6].Data_SL_Info.CurrentLength = 22U;
16880 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 16; dx_hand_model_B.k++) {
16881 dx_hand_model_B.msg_k.Name[7].Data[dx_hand_model_B.k] = (uint8_T)
16882 i[dx_hand_model_B.k];
16883 }
16884
16885 dx_hand_model_B.msg_k.Name[7].Data_SL_Info.CurrentLength = 16U;
16886 for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 24; dx_hand_model_B.k++) {
16887 dx_hand_model_B.msg_k.Name[8].Data[dx_hand_model_B.k] = (uint8_T)
16888 j[dx_hand_model_B.k];
16889 }
16890
16891 dx_hand_model_B.msg_k.Name[8].Data_SL_Info.CurrentLength = 24U;
16892
16893 /* Outputs for Atomic SubSystem: '<S215>/Publish1' */
16894 /* Start for MATLABSystem: '<S219>/SinkBlock' */
16895 Pub_dx_hand_model_2867.publish(&dx_hand_model_B.msg_k);
16896
16897 /* End of Outputs for SubSystem: '<S215>/Publish1' */
16898
16899 /* Update for DiscreteTransferFcn: '<S39>/Filt 4' */
16900 dx_hand_model_B.k = 0;
16901 while (dx_hand_model_B.k < 4) {
16902 dx_hand_model_B.Switch_n = dx_hand_model_B.J_c[dx_hand_model_B.k];
16903 dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef[1] *
16904 dx_hand_model_DW.Filt4_states[dx_hand_model_B.k];
16905 dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef[0];
16906 dx_hand_model_DW.Filt4_states[dx_hand_model_B.k] = dx_hand_model_B.Switch_n;
16907 dx_hand_model_B.k++;
16908 }
16909
16910 /* Update for Delay: '<S4>/Delay' */
16911 dx_hand_model_B.k = 0;
16912 while (dx_hand_model_B.k < 99) {
16913 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 27; dx_hand_model_B.i++) {
16914 dx_hand_model_DW.Delay_DSTATE[dx_hand_model_B.k * 27 + dx_hand_model_B.i] =
16915 dx_hand_model_DW.Delay_DSTATE[(dx_hand_model_B.k + 1) * 27 +
16916 dx_hand_model_B.i];
16917 }
16918
16919 dx_hand_model_B.k++;
16920 }
16921
16922 memcpy(&dx_hand_model_DW.Delay_DSTATE[2673], &dx_hand_model_B.ByteUnpack[0],
16923 27U * sizeof(real32_T));
16924
16925 /* Update for UnitDelay: '<S36>/Unit Delay3' incorporates:
16926 * MATLAB Function: '<S36>/Jacobian'
16927 */
16928 dx_hand_model_DW.UnitDelay3_DSTATE[0] =
16929 dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;
16930 dx_hand_model_DW.UnitDelay3_DSTATE[1] =
16931 dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a;
16932
16933 /* Update for UnitDelay: '<S36>/Unit Delay1' incorporates:
16934 * MATLAB Function: '<S36>/Jacobian'
16935 */
16936 dx_hand_model_DW.UnitDelay1_DSTATE = dx_hand_model_B.JTcomp_idx_3;
16937
16938 /* Update for Memory: '<S39>/Memory' */
16939 dx_hand_model_DW.Memory_PreviousInput[0] = dx_hand_model_B.J_c[0];
16940 dx_hand_model_DW.Memory_PreviousInput[1] = dx_hand_model_B.J_c[1];
16941 dx_hand_model_DW.Memory_PreviousInput[2] = dx_hand_model_B.J_c[2];
16942 dx_hand_model_DW.Memory_PreviousInput[3] = dx_hand_model_B.J_c[3];
16943
16944 /* Update for DiscreteTransferFcn: '<S27>/Filt 4' */
16945 dx_hand_model_B.k = 0;
16946 while (dx_hand_model_B.k < 1) {
16947 dx_hand_model_DW.Filt4_states_p = (dx_hand_model_B.DataTypeConversion2[3] -
16948 dx_hand_model_P.Filt4_DenCoef_h[1] * dx_hand_model_DW.Filt4_states_p) /
16949 dx_hand_model_P.Filt4_DenCoef_h[0];
16950 dx_hand_model_B.k++;
16951 }
16952
16953 /* Update for DiscreteTransferFcn: '<S26>/Filt 4' */
16954 dx_hand_model_B.k = 0;
16955 while (dx_hand_model_B.k < 1) {
16956 dx_hand_model_DW.Filt4_states_e = (dx_hand_model_B.DataTypeConversion2[2] -
16957 dx_hand_model_P.Filt4_DenCoef_i[1] * dx_hand_model_DW.Filt4_states_e) /
16958 dx_hand_model_P.Filt4_DenCoef_i[0];
16959 dx_hand_model_B.k++;
16960 }
16961
16962 /* Update for UnitDelay: '<S63>/UD' */
16963 dx_hand_model_DW.UD_DSTATE = dx_hand_model_B.qKN;
16964
16965 /* Update for UnitDelay: '<S61>/UD' */
16966 dx_hand_model_DW.UD_DSTATE_e = dx_hand_model_B.LA1N;
16967
16968 /* Update for UnitDelay: '<S64>/UD' */
16969 dx_hand_model_DW.UD_DSTATE_h = dx_hand_model_B.LA1K;
16970
16971 /* Update for UnitDelay: '<S62>/UD' */
16972 dx_hand_model_DW.UD_DSTATE_d = dx_hand_model_B.LA2K;
16973
16974 /* Update for DiscreteTransferFcn: '<S84>/Filt 4' */
16975 dx_hand_model_B.k = 0;
16976 while (dx_hand_model_B.k < 4) {
16977 dx_hand_model_B.Switch_n = dx_hand_model_B.sf_IsNan_d.J[dx_hand_model_B.k];
16978 dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef_p[1] *
16979 dx_hand_model_DW.Filt4_states_g[dx_hand_model_B.k];
16980 dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef_p[0];
16981 dx_hand_model_DW.Filt4_states_g[dx_hand_model_B.k] =
16982 dx_hand_model_B.Switch_n;
16983 dx_hand_model_B.k++;
16984 }
16985
16986 /* Update for UnitDelay: '<S80>/Unit Delay3' */
16987 dx_hand_model_DW.UnitDelay3_DSTATE_k[0] =
16988 dx_hand_model_B.sf_MiddleJacobian_o.q_next[0];
16989 dx_hand_model_DW.UnitDelay3_DSTATE_k[1] =
16990 dx_hand_model_B.sf_MiddleJacobian_o.q_next[1];
16991
16992 /* Update for UnitDelay: '<S80>/Unit Delay1' */
16993 dx_hand_model_DW.UnitDelay1_DSTATE_e =
16994 dx_hand_model_B.sf_MiddleJacobian_o.J22_ol;
16995
16996 /* Update for Memory: '<S84>/Memory' */
16997 dx_hand_model_DW.Memory_PreviousInput_k[0] = dx_hand_model_B.sf_IsNan_d.J[0];
16998 dx_hand_model_DW.Memory_PreviousInput_k[1] = dx_hand_model_B.sf_IsNan_d.J[1];
16999 dx_hand_model_DW.Memory_PreviousInput_k[2] = dx_hand_model_B.sf_IsNan_d.J[2];
17000 dx_hand_model_DW.Memory_PreviousInput_k[3] = dx_hand_model_B.sf_IsNan_d.J[3];
17001
17002 /* Update for DiscreteTransferFcn: '<S29>/Filt 4' */
17003 dx_hand_model_B.k = 0;
17004 while (dx_hand_model_B.k < 1) {
17005 dx_hand_model_DW.Filt4_states_n = (dx_hand_model_B.DataTypeConversion2[5] -
17006 dx_hand_model_P.Filt4_DenCoef_k[1] * dx_hand_model_DW.Filt4_states_n) /
17007 dx_hand_model_P.Filt4_DenCoef_k[0];
17008 dx_hand_model_B.k++;
17009 }
17010
17011 /* Update for DiscreteTransferFcn: '<S28>/Filt 4' */
17012 dx_hand_model_B.k = 0;
17013 while (dx_hand_model_B.k < 1) {
17014 dx_hand_model_DW.Filt4_states_b = (dx_hand_model_B.DataTypeConversion2[4] -
17015 dx_hand_model_P.Filt4_DenCoef_hx[1] * dx_hand_model_DW.Filt4_states_b) /
17016 dx_hand_model_P.Filt4_DenCoef_hx[0];
17017 dx_hand_model_B.k++;
17018 }
17019
17020 /* Update for UnitDelay: '<S113>/UD' */
17021 dx_hand_model_DW.UD_DSTATE_l = dx_hand_model_B.LBD;
17022
17023 /* Update for UnitDelay: '<S111>/UD' */
17024 dx_hand_model_DW.UD_DSTATE_f = dx_hand_model_B.xD;
17025
17026 /* Update for UnitDelay: '<S114>/UD' */
17027 dx_hand_model_DW.UD_DSTATE_f0 = dx_hand_model_B.LDF;
17028
17029 /* Update for UnitDelay: '<S112>/UD' */
17030 dx_hand_model_DW.UD_DSTATE_dy = dx_hand_model_B.xC;
17031
17032 /* Update for DiscreteTransferFcn: '<S131>/Filt 4' */
17033 dx_hand_model_B.k = 0;
17034 while (dx_hand_model_B.k < 4) {
17035 dx_hand_model_B.Switch_n = dx_hand_model_B.sf_IsNan_i.J[dx_hand_model_B.k];
17036 dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef_a[1] *
17037 dx_hand_model_DW.Filt4_states_k[dx_hand_model_B.k];
17038 dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef_a[0];
17039 dx_hand_model_DW.Filt4_states_k[dx_hand_model_B.k] =
17040 dx_hand_model_B.Switch_n;
17041 dx_hand_model_B.k++;
17042 }
17043
17044 /* Update for UnitDelay: '<S127>/Unit Delay3' */
17045 dx_hand_model_DW.UnitDelay3_DSTATE_kr[0] =
17046 dx_hand_model_B.sf_PinkyJacobian_f.q_next[0];
17047 dx_hand_model_DW.UnitDelay3_DSTATE_kr[1] =
17048 dx_hand_model_B.sf_PinkyJacobian_f.q_next[1];
17049
17050 /* Update for UnitDelay: '<S127>/Unit Delay1' */
17051 dx_hand_model_DW.UnitDelay1_DSTATE_g =
17052 dx_hand_model_B.sf_PinkyJacobian_f.J22_ol;
17053
17054 /* Update for Memory: '<S131>/Memory' */
17055 dx_hand_model_DW.Memory_PreviousInput_kw[0] = dx_hand_model_B.sf_IsNan_i.J[0];
17056 dx_hand_model_DW.Memory_PreviousInput_kw[1] = dx_hand_model_B.sf_IsNan_i.J[1];
17057 dx_hand_model_DW.Memory_PreviousInput_kw[2] = dx_hand_model_B.sf_IsNan_i.J[2];
17058 dx_hand_model_DW.Memory_PreviousInput_kw[3] = dx_hand_model_B.sf_IsNan_i.J[3];
17059
17060 /* Update for DiscreteTransferFcn: '<S30>/Filt 4' */
17061 dx_hand_model_B.k = 0;
17062 while (dx_hand_model_B.k < 1) {
17063 dx_hand_model_DW.Filt4_states_i = (dx_hand_model_B.DataTypeConversion2[7] -
17064 dx_hand_model_P.Filt4_DenCoef_an[1] * dx_hand_model_DW.Filt4_states_i) /
17065 dx_hand_model_P.Filt4_DenCoef_an[0];
17066 dx_hand_model_B.k++;
17067 }
17068
17069 /* Update for UnitDelay: '<S158>/UD' */
17070 dx_hand_model_DW.UD_DSTATE_c = dx_hand_model_B.yI;
17071
17072 /* Update for UnitDelay: '<S156>/UD' */
17073 dx_hand_model_DW.UD_DSTATE_ld = dx_hand_model_B.LLI;
17074
17075 /* Update for UnitDelay: '<S159>/UD' */
17076 dx_hand_model_DW.UD_DSTATE_i = dx_hand_model_B.temp;
17077
17078 /* Update for UnitDelay: '<S157>/UD' */
17079 dx_hand_model_DW.UD_DSTATE_a = dx_hand_model_B.xD1;
17080
17081 /* Update for DiscreteTransferFcn: '<S176>/Filt 4' */
17082 dx_hand_model_B.k = 0;
17083 while (dx_hand_model_B.k < 4) {
17084 dx_hand_model_B.Switch_n = dx_hand_model_B.sf_IsNan_l.J[dx_hand_model_B.k];
17085 dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef_px[1] *
17086 dx_hand_model_DW.Filt4_states_p3[dx_hand_model_B.k];
17087 dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef_px[0];
17088 dx_hand_model_DW.Filt4_states_p3[dx_hand_model_B.k] =
17089 dx_hand_model_B.Switch_n;
17090 dx_hand_model_B.k++;
17091 }
17092
17093 /* Update for UnitDelay: '<S172>/Unit Delay3' */
17094 dx_hand_model_DW.UnitDelay3_DSTATE_a[0] =
17095 dx_hand_model_B.sf_RingJacobian_e.q_next[0];
17096 dx_hand_model_DW.UnitDelay3_DSTATE_a[1] =
17097 dx_hand_model_B.sf_RingJacobian_e.q_next[1];
17098
17099 /* Update for UnitDelay: '<S172>/Unit Delay1' */
17100 dx_hand_model_DW.UnitDelay1_DSTATE_i =
17101 dx_hand_model_B.sf_RingJacobian_e.J22_ol;
17102
17103 /* Update for Memory: '<S176>/Memory' */
17104 dx_hand_model_DW.Memory_PreviousInput_b[0] = dx_hand_model_B.sf_IsNan_l.J[0];
17105 dx_hand_model_DW.Memory_PreviousInput_b[1] = dx_hand_model_B.sf_IsNan_l.J[1];
17106 dx_hand_model_DW.Memory_PreviousInput_b[2] = dx_hand_model_B.sf_IsNan_l.J[2];
17107 dx_hand_model_DW.Memory_PreviousInput_b[3] = dx_hand_model_B.sf_IsNan_l.J[3];
17108
17109 /* Update for DiscreteTransferFcn: '<S31>/Filt 4' */
17110 dx_hand_model_B.k = 0;
17111 while (dx_hand_model_B.k < 1) {
17112 dx_hand_model_DW.Filt4_states_h = (dx_hand_model_B.DataTypeConversion2[6] -
17113 dx_hand_model_P.Filt4_DenCoef_o[1] * dx_hand_model_DW.Filt4_states_h) /
17114 dx_hand_model_P.Filt4_DenCoef_o[0];
17115 dx_hand_model_B.k++;
17116 }
17117
17118 /* Update for UnitDelay: '<S203>/UD' */
17119 dx_hand_model_DW.UD_DSTATE_j = dx_hand_model_B.Saturation3_o;
17120
17121 /* Update for UnitDelay: '<S201>/UD' */
17122 dx_hand_model_DW.UD_DSTATE_ds = dx_hand_model_B.TSamp_cb;
17123
17124 /* Update for UnitDelay: '<S204>/UD' */
17125 dx_hand_model_DW.UD_DSTATE_m = dx_hand_model_B.TSamp_cm;
17126
17127 /* Update for UnitDelay: '<S202>/UD' */
17128 dx_hand_model_DW.UD_DSTATE_k = dx_hand_model_B.TSamp_g;
17129
17130 /* Update for Memory: '<S243>/Memory' incorporates:
17131 * ComplexToRealImag: '<S243>/Complex to Real-Imag2'
17132 */
17133 dx_hand_model_DW.Memory_PreviousInput_e[0] =
17134 dx_hand_model_B.rtb_xH_sol_idx_0_re;
17135
17136 /* Update for Memory: '<S243>/Memory1' */
17137 dx_hand_model_DW.Memory1_PreviousInput[0] = dx_hand_model_B.q_dif[0];
17138
17139 /* Update for Memory: '<S243>/Memory2' incorporates:
17140 * ComplexToRealImag: '<S243>/Complex to Real-Imag4'
17141 */
17142 dx_hand_model_DW.Memory2_PreviousInput[0] =
17143 dx_hand_model_B.rtb_zH_sol_idx_0_re;
17144
17145 /* Update for Memory: '<S243>/Memory' incorporates:
17146 * ComplexToRealImag: '<S243>/Complex to Real-Imag2'
17147 */
17148 dx_hand_model_DW.Memory_PreviousInput_e[1] =
17149 dx_hand_model_B.rtb_xH_sol_idx_1_re;
17150
17151 /* Update for Memory: '<S243>/Memory1' */
17152 dx_hand_model_DW.Memory1_PreviousInput[1] = dx_hand_model_B.q_dif[1];
17153
17154 /* Update for Memory: '<S243>/Memory2' incorporates:
17155 * ComplexToRealImag: '<S243>/Complex to Real-Imag4'
17156 */
17157 dx_hand_model_DW.Memory2_PreviousInput[1] =
17158 dx_hand_model_B.rtb_zH_sol_idx_1_re;
17159
17160 /* Update for Delay: '<S10>/Delay' */
17161 dx_hand_model_B.k = 0;
17162 while (dx_hand_model_B.k < 99) {
17163 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 12; dx_hand_model_B.i++) {
17164 dx_hand_model_DW.Delay_DSTATE_j[dx_hand_model_B.k * 12 + dx_hand_model_B.i]
17165 = dx_hand_model_DW.Delay_DSTATE_j[(dx_hand_model_B.k + 1) * 12 +
17166 dx_hand_model_B.i];
17167 }
17168
17169 dx_hand_model_B.k++;
17170 }
17171
17172 for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 12; dx_hand_model_B.i++) {
17173 dx_hand_model_DW.Delay_DSTATE_j[dx_hand_model_B.i + 1188] =
17174 dx_hand_model_B.TmpSignalConversionAtDelayI[dx_hand_model_B.i];
17175 }
17176
17177 /* Update for S-Function (sdspToNetwork): '<S10>/UDP Send' */
17178 sErr = GetErrorBuffer(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
17179 LibUpdate_Network(&dx_hand_model_DW.UDPSend_NetworkLib[0U],
17180 &dx_hand_model_B.BytePack[0U], 48);
17181 if (*sErr != 0) {
17182 rtmSetErrorStatus(dx_hand_model_M, sErr);
17183 rtmSetStopRequested(dx_hand_model_M, 1);
17184 }
17185
17186 /* End of Update for S-Function (sdspToNetwork): '<S10>/UDP Send' */
17187
17188 /* Update for DiscreteTransferFcn: '<S216>/Filt 6' incorporates:
17189 * ComplexToRealImag: '<S216>/Complex to Real-Imag'
17190 */
17191 dx_hand_model_B.k = 0;
17192 while (dx_hand_model_B.k < 1) {
17193 dx_hand_model_DW.Filt6_states = (dx_hand_model_B.Sum1_h -
17194 dx_hand_model_P.Filt6_DenCoef[1] * dx_hand_model_DW.Filt6_states) /
17195 dx_hand_model_P.Filt6_DenCoef[0];
17196 dx_hand_model_B.k++;
17197 }
17198
17199 /* Update for DiscreteTransferFcn: '<S216>/Filt 5' incorporates:
17200 * ComplexToRealImag: '<S216>/Complex to Real-Imag1'
17201 */
17202 dx_hand_model_B.k = 0;
17203 while (dx_hand_model_B.k < 1) {
17204 dx_hand_model_DW.Filt5_states = (dx_hand_model_B.Sum_a -
17205 dx_hand_model_P.Filt5_DenCoef[1] * dx_hand_model_DW.Filt5_states) /
17206 dx_hand_model_P.Filt5_DenCoef[0];
17207 dx_hand_model_B.k++;
17208 }
17209
17210 /* Update for DiscreteTransferFcn: '<S216>/Filt 4' */
17211 dx_hand_model_B.k = 0;
17212 while (dx_hand_model_B.k < 1) {
17213 dx_hand_model_DW.Filt4_states_gz = (dx_hand_model_B.LKN -
17214 dx_hand_model_P.Filt4_DenCoef_pv[1] * dx_hand_model_DW.Filt4_states_gz) /
17215 dx_hand_model_P.Filt4_DenCoef_pv[0];
17216 dx_hand_model_B.k++;
17217 }
17218
17219 /* Update for DiscreteTransferFcn: '<S216>/Filt 3' */
17220 dx_hand_model_B.k = 0;
17221 while (dx_hand_model_B.k < 1) {
17222 dx_hand_model_DW.Filt3_states = (dx_hand_model_B.LKH -
17223 dx_hand_model_P.Filt3_DenCoef[1] * dx_hand_model_DW.Filt3_states) /
17224 dx_hand_model_P.Filt3_DenCoef[0];
17225 dx_hand_model_B.k++;
17226 }
17227
17228 /* Update for DiscreteTransferFcn: '<S216>/Filt 2' */
17229 dx_hand_model_B.k = 0;
17230 while (dx_hand_model_B.k < 1) {
17231 dx_hand_model_DW.Filt2_states = (dx_hand_model_B.yD -
17232 dx_hand_model_P.Filt2_DenCoef[1] * dx_hand_model_DW.Filt2_states) /
17233 dx_hand_model_P.Filt2_DenCoef[0];
17234 dx_hand_model_B.k++;
17235 }
17236
17237 /* Update for DiscreteTransferFcn: '<S216>/Filt 1' */
17238 dx_hand_model_B.k = 0;
17239 while (dx_hand_model_B.k < 1) {
17240 dx_hand_model_DW.Filt1_states = (dx_hand_model_B.Saturation2 -
17241 dx_hand_model_P.Filt1_DenCoef[1] * dx_hand_model_DW.Filt1_states) /
17242 dx_hand_model_P.Filt1_DenCoef[0];
17243 dx_hand_model_B.k++;
17244 }
17245
17246 /* Update for DiscreteTransferFcn: '<S216>/Filt 8' */
17247 dx_hand_model_B.k = 0;
17248 while (dx_hand_model_B.k < 1) {
17249 dx_hand_model_DW.Filt8_states = (dx_hand_model_B.Saturation3 -
17250 dx_hand_model_P.Filt8_DenCoef[1] * dx_hand_model_DW.Filt8_states) /
17251 dx_hand_model_P.Filt8_DenCoef[0];
17252 dx_hand_model_B.k++;
17253 }
17254
17255 /* Update absolute time */
17256 /* The "clockTick0" counts the number of times the code of this task has
17257 * been executed. The resolution of this integer timer is 0.01, which is the step size
17258 * of the task. Size of "clockTick0" ensures timer will not overflow during the
17259 * application lifespan selected.
17260 * Timer of this task consists of two 32 bit unsigned integers.
17261 * The two integers represent the low bits Timing.clockTick0 and the high bits
17262 * Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.
17263 */
17264 dx_hand_model_M->Timing.clockTick0++;
17265 if (!dx_hand_model_M->Timing.clockTick0) {
17266 dx_hand_model_M->Timing.clockTickH0++;
17267 }
17268
17269 /* If subsystem generates rate grouping Output functions,
17270 * when tid is used in Output function for one rate,
17271 * all Output functions include tid as a local variable.
17272 * As result, some Output functions may have unused tid.
17273 */
17274 UNUSED_PARAMETER(tid);
17275}
17276
17277/* Model step function for TID1 */
17278void dx_hand_model_step1(void) /* Sample time: [2.0s, 0.0s] */
17279{
17280 int_T tid = 1;
17281 boolean_T p;
17282 boolean_T p_0;
17283 real_T rtb_GetParameter3_o1_n3;
17284 real_T rtb_GetParameter3_o1_ef;
17285 real_T rtb_GetParameter3_o1_ei;
17286 real_T rtb_GetParameter3_o1_nj;
17287 real_T rtb_GetParameter3_o1_f;
17288 real_T rtb_GetParameter3_pz;
17289 real_T rtb_GetParameter3_kg;
17290 int32_T i;
17291
17292 /* Start for MATLABSystem: '<S33>/Get Parameter3' */
17293 p = false;
17294 p_0 = true;
17295 if (!(dx_hand_model_DW.obj_e2.SampleTime == dx_hand_model_P.update_param)) {
17296 p_0 = false;
17297 }
17298
17299 if (p_0) {
17300 p = true;
17301 }
17302
17303 if (!p) {
17304 dx_hand_model_DW.obj_e2.SampleTime = dx_hand_model_P.update_param;
17305 }
17306
17307 ParamGet_dx_hand_model_4854.get_parameter(&rtb_GetParameter3_kg);
17308
17309 /* End of Start for MATLABSystem: '<S33>/Get Parameter3' */
17310
17311 /* Start for MATLABSystem: '<S34>/Get Parameter3' */
17312 p = false;
17313 p_0 = true;
17314 if (!(dx_hand_model_DW.obj_p3.SampleTime == dx_hand_model_P.update_param)) {
17315 p_0 = false;
17316 }
17317
17318 if (p_0) {
17319 p = true;
17320 }
17321
17322 if (!p) {
17323 dx_hand_model_DW.obj_p3.SampleTime = dx_hand_model_P.update_param;
17324 }
17325
17326 ParamGet_dx_hand_model_3562.get_parameter(&rtb_GetParameter3_pz);
17327
17328 /* End of Start for MATLABSystem: '<S34>/Get Parameter3' */
17329
17330 /* Start for MATLABSystem: '<S46>/Get Parameter3' */
17331 p = false;
17332 p_0 = true;
17333 if (!(dx_hand_model_DW.obj_me.SampleTime == dx_hand_model_P.update_param)) {
17334 p_0 = false;
17335 }
17336
17337 if (p_0) {
17338 p = true;
17339 }
17340
17341 if (!p) {
17342 dx_hand_model_DW.obj_me.SampleTime = dx_hand_model_P.update_param;
17343 }
17344
17345 ParamGet_dx_hand_model_3578.get_parameter(&rtb_GetParameter3_o1_f);
17346
17347 /* End of Start for MATLABSystem: '<S46>/Get Parameter3' */
17348
17349 /* Start for MATLABSystem: '<S47>/Get Parameter3' */
17350 p = false;
17351 p_0 = true;
17352 if (!(dx_hand_model_DW.obj_oe.SampleTime == dx_hand_model_P.update_param)) {
17353 p_0 = false;
17354 }
17355
17356 if (p_0) {
17357 p = true;
17358 }
17359
17360 if (!p) {
17361 dx_hand_model_DW.obj_oe.SampleTime = dx_hand_model_P.update_param;
17362 }
17363
17364 ParamGet_dx_hand_model_3588.get_parameter(&rtb_GetParameter3_o1_nj);
17365
17366 /* End of Start for MATLABSystem: '<S47>/Get Parameter3' */
17367
17368 /* Start for MATLABSystem: '<S45>/Get Parameter3' */
17369 p = false;
17370 p_0 = true;
17371 if (!(dx_hand_model_DW.obj_ev.SampleTime == dx_hand_model_P.update_param)) {
17372 p_0 = false;
17373 }
17374
17375 if (p_0) {
17376 p = true;
17377 }
17378
17379 if (!p) {
17380 dx_hand_model_DW.obj_ev.SampleTime = dx_hand_model_P.update_param;
17381 }
17382
17383 ParamGet_dx_hand_model_2644.get_parameter(&rtb_GetParameter3_o1_ei);
17384
17385 /* End of Start for MATLABSystem: '<S45>/Get Parameter3' */
17386
17387 /* Start for MATLABSystem: '<S50>/Get Parameter3' */
17388 p = false;
17389 p_0 = true;
17390 if (!(dx_hand_model_DW.obj_m2.SampleTime == dx_hand_model_P.update_param)) {
17391 p_0 = false;
17392 }
17393
17394 if (p_0) {
17395 p = true;
17396 }
17397
17398 if (!p) {
17399 dx_hand_model_DW.obj_m2.SampleTime = dx_hand_model_P.update_param;
17400 }
17401
17402 ParamGet_dx_hand_model_2632.get_parameter(&rtb_GetParameter3_o1_ef);
17403
17404 /* End of Start for MATLABSystem: '<S50>/Get Parameter3' */
17405
17406 /* Start for MATLABSystem: '<S58>/Get Parameter' */
17407 p = false;
17408 p_0 = true;
17409 if (!(dx_hand_model_DW.obj_hfj.SampleTime == dx_hand_model_P.update_param)) {
17410 p_0 = false;
17411 }
17412
17413 if (p_0) {
17414 p = true;
17415 }
17416
17417 if (!p) {
17418 dx_hand_model_DW.obj_hfj.SampleTime = dx_hand_model_P.update_param;
17419 }
17420
17421 ParamGet_dx_hand_model_2613.get_parameter(&dx_hand_model_B.GetParameter3);
17422
17423 /* Start for MATLABSystem: '<S58>/Get Parameter1' */
17424 p = false;
17425 p_0 = true;
17426 if (!(dx_hand_model_DW.obj_jb.SampleTime == dx_hand_model_P.update_param)) {
17427 p_0 = false;
17428 }
17429
17430 if (p_0) {
17431 p = true;
17432 }
17433
17434 if (!p) {
17435 dx_hand_model_DW.obj_jb.SampleTime = dx_hand_model_P.update_param;
17436 }
17437
17438 ParamGet_dx_hand_model_2614.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);
17439
17440 /* Start for MATLABSystem: '<S58>/Get Parameter2' */
17441 p = false;
17442 p_0 = true;
17443 if (!(dx_hand_model_DW.obj_mh.SampleTime == dx_hand_model_P.update_param)) {
17444 p_0 = false;
17445 }
17446
17447 if (p_0) {
17448 p = true;
17449 }
17450
17451 if (!p) {
17452 dx_hand_model_DW.obj_mh.SampleTime = dx_hand_model_P.update_param;
17453 }
17454
17455 ParamGet_dx_hand_model_2615.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);
17456
17457 /* Start for MATLABSystem: '<S58>/Get Parameter3' */
17458 p = false;
17459 p_0 = true;
17460 if (!(dx_hand_model_DW.obj_fc.SampleTime == dx_hand_model_P.update_param)) {
17461 p_0 = false;
17462 }
17463
17464 if (p_0) {
17465 p = true;
17466 }
17467
17468 if (!p) {
17469 dx_hand_model_DW.obj_fc.SampleTime = dx_hand_model_P.update_param;
17470 }
17471
17472 ParamGet_dx_hand_model_2616.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);
17473
17474 /* Start for MATLABSystem: '<S58>/Get Parameter4' */
17475 p = false;
17476 p_0 = true;
17477 if (!(dx_hand_model_DW.obj_ju.SampleTime == dx_hand_model_P.update_param)) {
17478 p_0 = false;
17479 }
17480
17481 if (p_0) {
17482 p = true;
17483 }
17484
17485 if (!p) {
17486 dx_hand_model_DW.obj_ju.SampleTime = dx_hand_model_P.update_param;
17487 }
17488
17489 ParamGet_dx_hand_model_2617.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);
17490
17491 /* ManualSwitch: '<S53>/Manual Switch' incorporates:
17492 * Constant: '<S59>/Antonio1'
17493 * MATLABSystem: '<S58>/Get Parameter'
17494 * MATLABSystem: '<S58>/Get Parameter'
17495 * MATLABSystem: '<S58>/Get Parameter1'
17496 * MATLABSystem: '<S58>/Get Parameter1'
17497 * MATLABSystem: '<S58>/Get Parameter2'
17498 * MATLABSystem: '<S58>/Get Parameter2'
17499 * MATLABSystem: '<S58>/Get Parameter3'
17500 * MATLABSystem: '<S58>/Get Parameter3'
17501 * MATLABSystem: '<S58>/Get Parameter4'
17502 * MATLABSystem: '<S58>/Get Parameter4'
17503 */
17504 if (dx_hand_model_P.ManualSwitch_CurrentSetting_o == 1) {
17505 dx_hand_model_B.ManualSwitch_i[0] = dx_hand_model_B.GetParameter3_o1_o1;
17506 dx_hand_model_B.ManualSwitch_i[1] = dx_hand_model_B.GetParameter3_o1_el;
17507 dx_hand_model_B.ManualSwitch_i[2] = dx_hand_model_B.GetParameter3;
17508 dx_hand_model_B.ManualSwitch_i[3] = dx_hand_model_B.GetParameter3_o1_ix;
17509 dx_hand_model_B.ManualSwitch_i[4] = dx_hand_model_B.GetParameter3_o1_kn;
17510 } else {
17511 dx_hand_model_B.ManualSwitch_i[0] = dx_hand_model_P.Antonio1_Value[0];
17512 dx_hand_model_B.ManualSwitch_i[1] = dx_hand_model_P.Antonio1_Value[1];
17513 dx_hand_model_B.ManualSwitch_i[2] = dx_hand_model_P.Antonio1_Value[2];
17514 dx_hand_model_B.ManualSwitch_i[3] = dx_hand_model_P.Antonio1_Value[3];
17515 dx_hand_model_B.ManualSwitch_i[4] = dx_hand_model_P.Antonio1_Value[4];
17516 }
17517
17518 /* End of ManualSwitch: '<S53>/Manual Switch' */
17519
17520 /* Start for MATLABSystem: '<S66>/Get Parameter3' */
17521 p = false;
17522 p_0 = true;
17523 if (!(dx_hand_model_DW.obj_al.SampleTime == dx_hand_model_P.update_param)) {
17524 p_0 = false;
17525 }
17526
17527 if (p_0) {
17528 p = true;
17529 }
17530
17531 if (!p) {
17532 dx_hand_model_DW.obj_al.SampleTime = dx_hand_model_P.update_param;
17533 }
17534
17535 ParamGet_dx_hand_model_3323.get_parameter(&rtb_GetParameter3_o1_n3);
17536
17537 /* End of Start for MATLABSystem: '<S66>/Get Parameter3' */
17538
17539 /* Start for MATLABSystem: '<S67>/Get Parameter3' */
17540 p = false;
17541 p_0 = true;
17542 if (!(dx_hand_model_DW.obj_gbp.SampleTime == dx_hand_model_P.update_param)) {
17543 p_0 = false;
17544 }
17545
17546 if (p_0) {
17547 p = true;
17548 }
17549
17550 if (!p) {
17551 dx_hand_model_DW.obj_gbp.SampleTime = dx_hand_model_P.update_param;
17552 }
17553
17554 ParamGet_dx_hand_model_3464.get_parameter(&dx_hand_model_B.GetParameter3_f);
17555
17556 /* End of Start for MATLABSystem: '<S67>/Get Parameter3' */
17557
17558 /* Start for MATLABSystem: '<S68>/Get Parameter3' */
17559 p = false;
17560 p_0 = true;
17561 if (!(dx_hand_model_DW.obj_i.SampleTime == dx_hand_model_P.update_param)) {
17562 p_0 = false;
17563 }
17564
17565 if (p_0) {
17566 p = true;
17567 }
17568
17569 if (!p) {
17570 dx_hand_model_DW.obj_i.SampleTime = dx_hand_model_P.update_param;
17571 }
17572
17573 ParamGet_dx_hand_model_3474.get_parameter(&dx_hand_model_B.GetParameter3_kk);
17574
17575 /* End of Start for MATLABSystem: '<S68>/Get Parameter3' */
17576
17577 /* Start for MATLABSystem: '<S69>/Get Parameter3' */
17578 p = false;
17579 p_0 = true;
17580 if (!(dx_hand_model_DW.obj_lye.SampleTime == dx_hand_model_P.update_param)) {
17581 p_0 = false;
17582 }
17583
17584 if (p_0) {
17585 p = true;
17586 }
17587
17588 if (!p) {
17589 dx_hand_model_DW.obj_lye.SampleTime = dx_hand_model_P.update_param;
17590 }
17591
17592 ParamGet_dx_hand_model_3283.get_parameter(&dx_hand_model_B.GetParameter3_d);
17593
17594 /* End of Start for MATLABSystem: '<S69>/Get Parameter3' */
17595
17596 /* Start for MATLABSystem: '<S70>/Get Parameter3' */
17597 p = false;
17598 p_0 = true;
17599 if (!(dx_hand_model_DW.obj_gts.SampleTime == dx_hand_model_P.update_param)) {
17600 p_0 = false;
17601 }
17602
17603 if (p_0) {
17604 p = true;
17605 }
17606
17607 if (!p) {
17608 dx_hand_model_DW.obj_gts.SampleTime = dx_hand_model_P.update_param;
17609 }
17610
17611 ParamGet_dx_hand_model_3296.get_parameter(&dx_hand_model_B.GetParameter3_pn);
17612
17613 /* End of Start for MATLABSystem: '<S70>/Get Parameter3' */
17614
17615 /* Start for MATLABSystem: '<S71>/Get Parameter3' */
17616 p = false;
17617 p_0 = true;
17618 if (!(dx_hand_model_DW.obj_d4.SampleTime == dx_hand_model_P.update_param)) {
17619 p_0 = false;
17620 }
17621
17622 if (p_0) {
17623 p = true;
17624 }
17625
17626 if (!p) {
17627 dx_hand_model_DW.obj_d4.SampleTime = dx_hand_model_P.update_param;
17628 }
17629
17630 ParamGet_dx_hand_model_3307.get_parameter(&dx_hand_model_B.GetParameter3_az);
17631
17632 /* End of Start for MATLABSystem: '<S71>/Get Parameter3' */
17633
17634 /* Start for MATLABSystem: '<S72>/Get Parameter3' */
17635 p = false;
17636 p_0 = true;
17637 if (!(dx_hand_model_DW.obj_fo.SampleTime == dx_hand_model_P.update_param)) {
17638 p_0 = false;
17639 }
17640
17641 if (p_0) {
17642 p = true;
17643 }
17644
17645 if (!p) {
17646 dx_hand_model_DW.obj_fo.SampleTime = dx_hand_model_P.update_param;
17647 }
17648
17649 ParamGet_dx_hand_model_3314.get_parameter(&dx_hand_model_B.GetParameter3_mq);
17650
17651 /* End of Start for MATLABSystem: '<S72>/Get Parameter3' */
17652
17653 /* Start for MATLABSystem: '<S39>/Get Parameter3' */
17654 p = false;
17655 p_0 = true;
17656 if (!(dx_hand_model_DW.obj_cc.SampleTime == dx_hand_model_P.update_param)) {
17657 p_0 = false;
17658 }
17659
17660 if (p_0) {
17661 p = true;
17662 }
17663
17664 if (!p) {
17665 dx_hand_model_DW.obj_cc.SampleTime = dx_hand_model_P.update_param;
17666 }
17667
17668 ParamGet_dx_hand_model_3238.get_parameter(&dx_hand_model_B.GetParameter3_o1_oa);
17669
17670 /* End of Start for MATLABSystem: '<S39>/Get Parameter3' */
17671
17672 /* Start for MATLABSystem: '<S76>/Get Parameter3' */
17673 p = false;
17674 p_0 = true;
17675 if (!(dx_hand_model_DW.obj_nd.SampleTime == dx_hand_model_P.update_param)) {
17676 p_0 = false;
17677 }
17678
17679 if (p_0) {
17680 p = true;
17681 }
17682
17683 if (!p) {
17684 dx_hand_model_DW.obj_nd.SampleTime = dx_hand_model_P.update_param;
17685 }
17686
17687 ParamGet_dx_hand_model_3391.get_parameter(&dx_hand_model_B.GetParameter3_nx);
17688
17689 /* End of Start for MATLABSystem: '<S76>/Get Parameter3' */
17690
17691 /* Start for MATLABSystem: '<S77>/Get Parameter3' */
17692 p = false;
17693 p_0 = true;
17694 if (!(dx_hand_model_DW.obj_cm.SampleTime == dx_hand_model_P.update_param)) {
17695 p_0 = false;
17696 }
17697
17698 if (p_0) {
17699 p = true;
17700 }
17701
17702 if (!p) {
17703 dx_hand_model_DW.obj_cm.SampleTime = dx_hand_model_P.update_param;
17704 }
17705
17706 ParamGet_dx_hand_model_3398.get_parameter(&dx_hand_model_B.GetParameter3_pi);
17707
17708 /* End of Start for MATLABSystem: '<S77>/Get Parameter3' */
17709
17710 /* Start for MATLABSystem: '<S41>/Get Parameter3' */
17711 p = false;
17712 p_0 = true;
17713 if (!(dx_hand_model_DW.obj_ls.SampleTime == dx_hand_model_P.update_param)) {
17714 p_0 = false;
17715 }
17716
17717 if (p_0) {
17718 p = true;
17719 }
17720
17721 if (!p) {
17722 dx_hand_model_DW.obj_ls.SampleTime = dx_hand_model_P.update_param;
17723 }
17724
17725 ParamGet_dx_hand_model_3507.get_parameter(&dx_hand_model_B.GetParameter3_a3);
17726
17727 /* End of Start for MATLABSystem: '<S41>/Get Parameter3' */
17728
17729 /* Start for MATLABSystem: '<S78>/Get Parameter3' */
17730 p = false;
17731 p_0 = true;
17732 if (!(dx_hand_model_DW.obj_p1.SampleTime == dx_hand_model_P.update_param)) {
17733 p_0 = false;
17734 }
17735
17736 if (p_0) {
17737 p = true;
17738 }
17739
17740 if (!p) {
17741 dx_hand_model_DW.obj_p1.SampleTime = dx_hand_model_P.update_param;
17742 }
17743
17744 ParamGet_dx_hand_model_4871.get_parameter(&dx_hand_model_B.GetParameter3_cc);
17745
17746 /* End of Start for MATLABSystem: '<S78>/Get Parameter3' */
17747
17748 /* Start for MATLABSystem: '<S79>/Get Parameter3' */
17749 p = false;
17750 p_0 = true;
17751 if (!(dx_hand_model_DW.obj_hg.SampleTime == dx_hand_model_P.update_param)) {
17752 p_0 = false;
17753 }
17754
17755 if (p_0) {
17756 p = true;
17757 }
17758
17759 if (!p) {
17760 dx_hand_model_DW.obj_hg.SampleTime = dx_hand_model_P.update_param;
17761 }
17762
17763 ParamGet_dx_hand_model_3550.get_parameter(&dx_hand_model_B.GetParameter3_mf);
17764
17765 /* End of Start for MATLABSystem: '<S79>/Get Parameter3' */
17766
17767 /* Start for MATLABSystem: '<S92>/Get Parameter3' */
17768 p = false;
17769 p_0 = true;
17770 if (!(dx_hand_model_DW.obj_aea.SampleTime == dx_hand_model_P.update_param)) {
17771 p_0 = false;
17772 }
17773
17774 if (p_0) {
17775 p = true;
17776 }
17777
17778 if (!p) {
17779 dx_hand_model_DW.obj_aea.SampleTime = dx_hand_model_P.update_param;
17780 }
17781
17782 ParamGet_dx_hand_model_2565.get_parameter(&dx_hand_model_B.GetParameter3_o1_kd);
17783
17784 /* End of Start for MATLABSystem: '<S92>/Get Parameter3' */
17785
17786 /* Start for MATLABSystem: '<S102>/Get Parameter' */
17787 p = false;
17788 p_0 = true;
17789 if (!(dx_hand_model_DW.obj_hu.SampleTime == dx_hand_model_P.update_param)) {
17790 p_0 = false;
17791 }
17792
17793 if (p_0) {
17794 p = true;
17795 }
17796
17797 if (!p) {
17798 dx_hand_model_DW.obj_hu.SampleTime = dx_hand_model_P.update_param;
17799 }
17800
17801 ParamGet_dx_hand_model_2519.get_parameter(&dx_hand_model_B.GetParameter3);
17802
17803 /* Start for MATLABSystem: '<S102>/Get Parameter1' */
17804 p = false;
17805 p_0 = true;
17806 if (!(dx_hand_model_DW.obj_hf.SampleTime == dx_hand_model_P.update_param)) {
17807 p_0 = false;
17808 }
17809
17810 if (p_0) {
17811 p = true;
17812 }
17813
17814 if (!p) {
17815 dx_hand_model_DW.obj_hf.SampleTime = dx_hand_model_P.update_param;
17816 }
17817
17818 ParamGet_dx_hand_model_2520.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);
17819
17820 /* Start for MATLABSystem: '<S102>/Get Parameter2' */
17821 p = false;
17822 p_0 = true;
17823 if (!(dx_hand_model_DW.obj_n2.SampleTime == dx_hand_model_P.update_param)) {
17824 p_0 = false;
17825 }
17826
17827 if (p_0) {
17828 p = true;
17829 }
17830
17831 if (!p) {
17832 dx_hand_model_DW.obj_n2.SampleTime = dx_hand_model_P.update_param;
17833 }
17834
17835 ParamGet_dx_hand_model_2521.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);
17836
17837 /* Start for MATLABSystem: '<S102>/Get Parameter3' */
17838 p = false;
17839 p_0 = true;
17840 if (!(dx_hand_model_DW.obj_e1.SampleTime == dx_hand_model_P.update_param)) {
17841 p_0 = false;
17842 }
17843
17844 if (p_0) {
17845 p = true;
17846 }
17847
17848 if (!p) {
17849 dx_hand_model_DW.obj_e1.SampleTime = dx_hand_model_P.update_param;
17850 }
17851
17852 ParamGet_dx_hand_model_2522.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);
17853
17854 /* Start for MATLABSystem: '<S102>/Get Parameter4' */
17855 p = false;
17856 p_0 = true;
17857 if (!(dx_hand_model_DW.obj_gg.SampleTime == dx_hand_model_P.update_param)) {
17858 p_0 = false;
17859 }
17860
17861 if (p_0) {
17862 p = true;
17863 }
17864
17865 if (!p) {
17866 dx_hand_model_DW.obj_gg.SampleTime = dx_hand_model_P.update_param;
17867 }
17868
17869 ParamGet_dx_hand_model_2523.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);
17870
17871 /* ManualSwitch: '<S97>/Manual Switch' incorporates:
17872 * Constant: '<S103>/Antonio'
17873 * MATLABSystem: '<S102>/Get Parameter'
17874 * MATLABSystem: '<S102>/Get Parameter'
17875 * MATLABSystem: '<S102>/Get Parameter1'
17876 * MATLABSystem: '<S102>/Get Parameter1'
17877 * MATLABSystem: '<S102>/Get Parameter2'
17878 * MATLABSystem: '<S102>/Get Parameter2'
17879 * MATLABSystem: '<S102>/Get Parameter3'
17880 * MATLABSystem: '<S102>/Get Parameter3'
17881 * MATLABSystem: '<S102>/Get Parameter4'
17882 * MATLABSystem: '<S102>/Get Parameter4'
17883 */
17884 if (dx_hand_model_P.ManualSwitch_CurrentSetting_jv == 1) {
17885 dx_hand_model_B.ManualSwitch_a[0] = dx_hand_model_B.GetParameter3_o1_o1;
17886 dx_hand_model_B.ManualSwitch_a[1] = dx_hand_model_B.GetParameter3_o1_el;
17887 dx_hand_model_B.ManualSwitch_a[2] = dx_hand_model_B.GetParameter3;
17888 dx_hand_model_B.ManualSwitch_a[3] = dx_hand_model_B.GetParameter3_o1_ix;
17889 dx_hand_model_B.ManualSwitch_a[4] = dx_hand_model_B.GetParameter3_o1_kn;
17890 } else {
17891 dx_hand_model_B.ManualSwitch_a[0] = dx_hand_model_P.Antonio_Value[0];
17892 dx_hand_model_B.ManualSwitch_a[1] = dx_hand_model_P.Antonio_Value[1];
17893 dx_hand_model_B.ManualSwitch_a[2] = dx_hand_model_P.Antonio_Value[2];
17894 dx_hand_model_B.ManualSwitch_a[3] = dx_hand_model_P.Antonio_Value[3];
17895 dx_hand_model_B.ManualSwitch_a[4] = dx_hand_model_P.Antonio_Value[4];
17896 }
17897
17898 /* End of ManualSwitch: '<S97>/Manual Switch' */
17899
17900 /* Start for MATLABSystem: '<S108>/Get Parameter3' */
17901 p = false;
17902 p_0 = true;
17903 if (!(dx_hand_model_DW.obj_ae1.SampleTime == dx_hand_model_P.update_param)) {
17904 p_0 = false;
17905 }
17906
17907 if (p_0) {
17908 p = true;
17909 }
17910
17911 if (!p) {
17912 dx_hand_model_DW.obj_ae1.SampleTime = dx_hand_model_P.update_param;
17913 }
17914
17915 ParamGet_dx_hand_model_2703.get_parameter(&dx_hand_model_B.GetParameter3_o1_pm);
17916
17917 /* End of Start for MATLABSystem: '<S108>/Get Parameter3' */
17918
17919 /* Start for MATLABSystem: '<S109>/Get Parameter3' */
17920 p = false;
17921 p_0 = true;
17922 if (!(dx_hand_model_DW.obj_pu.SampleTime == dx_hand_model_P.update_param)) {
17923 p_0 = false;
17924 }
17925
17926 if (p_0) {
17927 p = true;
17928 }
17929
17930 if (!p) {
17931 dx_hand_model_DW.obj_pu.SampleTime = dx_hand_model_P.update_param;
17932 }
17933
17934 ParamGet_dx_hand_model_2713.get_parameter(&dx_hand_model_B.GetParameter3_o1_eh);
17935
17936 /* End of Start for MATLABSystem: '<S109>/Get Parameter3' */
17937
17938 /* Start for MATLABSystem: '<S107>/Get Parameter3' */
17939 p = false;
17940 p_0 = true;
17941 if (!(dx_hand_model_DW.obj_gr.SampleTime == dx_hand_model_P.update_param)) {
17942 p_0 = false;
17943 }
17944
17945 if (p_0) {
17946 p = true;
17947 }
17948
17949 if (!p) {
17950 dx_hand_model_DW.obj_gr.SampleTime = dx_hand_model_P.update_param;
17951 }
17952
17953 ParamGet_dx_hand_model_2571.get_parameter(&dx_hand_model_B.GetParameter3_o1_hh);
17954
17955 /* End of Start for MATLABSystem: '<S107>/Get Parameter3' */
17956
17957 /* Start for MATLABSystem: '<S116>/Get Parameter3' */
17958 p = false;
17959 p_0 = true;
17960 if (!(dx_hand_model_DW.obj_pi.SampleTime == dx_hand_model_P.update_param)) {
17961 p_0 = false;
17962 }
17963
17964 if (p_0) {
17965 p = true;
17966 }
17967
17968 if (!p) {
17969 dx_hand_model_DW.obj_pi.SampleTime = dx_hand_model_P.update_param;
17970 }
17971
17972 ParamGet_dx_hand_model_3348.get_parameter(&dx_hand_model_B.GetParameter3_o1_du);
17973
17974 /* End of Start for MATLABSystem: '<S116>/Get Parameter3' */
17975
17976 /* Start for MATLABSystem: '<S117>/Get Parameter3' */
17977 p = false;
17978 p_0 = true;
17979 if (!(dx_hand_model_DW.obj_k3.SampleTime == dx_hand_model_P.update_param)) {
17980 p_0 = false;
17981 }
17982
17983 if (p_0) {
17984 p = true;
17985 }
17986
17987 if (!p) {
17988 dx_hand_model_DW.obj_k3.SampleTime = dx_hand_model_P.update_param;
17989 }
17990
17991 ParamGet_dx_hand_model_3482.get_parameter(&dx_hand_model_B.GetParameter3_ly);
17992
17993 /* End of Start for MATLABSystem: '<S117>/Get Parameter3' */
17994
17995 /* Start for MATLABSystem: '<S118>/Get Parameter3' */
17996 p = false;
17997 p_0 = true;
17998 if (!(dx_hand_model_DW.obj_lx.SampleTime == dx_hand_model_P.update_param)) {
17999 p_0 = false;
18000 }
18001
18002 if (p_0) {
18003 p = true;
18004 }
18005
18006 if (!p) {
18007 dx_hand_model_DW.obj_lx.SampleTime = dx_hand_model_P.update_param;
18008 }
18009
18010 ParamGet_dx_hand_model_3490.get_parameter(&dx_hand_model_B.GetParameter3_ey);
18011
18012 /* End of Start for MATLABSystem: '<S118>/Get Parameter3' */
18013
18014 /* Start for MATLABSystem: '<S119>/Get Parameter3' */
18015 p = false;
18016 p_0 = true;
18017 if (!(dx_hand_model_DW.obj_mw.SampleTime == dx_hand_model_P.update_param)) {
18018 p_0 = false;
18019 }
18020
18021 if (p_0) {
18022 p = true;
18023 }
18024
18025 if (!p) {
18026 dx_hand_model_DW.obj_mw.SampleTime = dx_hand_model_P.update_param;
18027 }
18028
18029 ParamGet_dx_hand_model_3362.get_parameter(&dx_hand_model_B.GetParameter3_mw);
18030
18031 /* End of Start for MATLABSystem: '<S119>/Get Parameter3' */
18032
18033 /* Start for MATLABSystem: '<S120>/Get Parameter3' */
18034 p = false;
18035 p_0 = true;
18036 if (!(dx_hand_model_DW.obj_fx.SampleTime == dx_hand_model_P.update_param)) {
18037 p_0 = false;
18038 }
18039
18040 if (p_0) {
18041 p = true;
18042 }
18043
18044 if (!p) {
18045 dx_hand_model_DW.obj_fx.SampleTime = dx_hand_model_P.update_param;
18046 }
18047
18048 ParamGet_dx_hand_model_3369.get_parameter(&dx_hand_model_B.GetParameter3_m);
18049
18050 /* End of Start for MATLABSystem: '<S120>/Get Parameter3' */
18051
18052 /* Start for MATLABSystem: '<S121>/Get Parameter3' */
18053 p = false;
18054 p_0 = true;
18055 if (!(dx_hand_model_DW.obj_ha.SampleTime == dx_hand_model_P.update_param)) {
18056 p_0 = false;
18057 }
18058
18059 if (p_0) {
18060 p = true;
18061 }
18062
18063 if (!p) {
18064 dx_hand_model_DW.obj_ha.SampleTime = dx_hand_model_P.update_param;
18065 }
18066
18067 ParamGet_dx_hand_model_3376.get_parameter(&dx_hand_model_B.GetParameter3_bp);
18068
18069 /* End of Start for MATLABSystem: '<S121>/Get Parameter3' */
18070
18071 /* Start for MATLABSystem: '<S122>/Get Parameter3' */
18072 p = false;
18073 p_0 = true;
18074 if (!(dx_hand_model_DW.obj_ot.SampleTime == dx_hand_model_P.update_param)) {
18075 p_0 = false;
18076 }
18077
18078 if (p_0) {
18079 p = true;
18080 }
18081
18082 if (!p) {
18083 dx_hand_model_DW.obj_ot.SampleTime = dx_hand_model_P.update_param;
18084 }
18085
18086 ParamGet_dx_hand_model_3383.get_parameter(&dx_hand_model_B.GetParameter3_le);
18087
18088 /* End of Start for MATLABSystem: '<S122>/Get Parameter3' */
18089
18090 /* Start for MATLABSystem: '<S84>/Get Parameter3' */
18091 p = false;
18092 p_0 = true;
18093 if (!(dx_hand_model_DW.obj_h3.SampleTime == dx_hand_model_P.update_param)) {
18094 p_0 = false;
18095 }
18096
18097 if (p_0) {
18098 p = true;
18099 }
18100
18101 if (!p) {
18102 dx_hand_model_DW.obj_h3.SampleTime = dx_hand_model_P.update_param;
18103 }
18104
18105 ParamGet_dx_hand_model_3245.get_parameter(&dx_hand_model_B.GetParameter3_o1_n);
18106
18107 /* End of Start for MATLABSystem: '<S84>/Get Parameter3' */
18108
18109 /* Start for MATLABSystem: '<S87>/Get Parameter3' */
18110 p = false;
18111 p_0 = true;
18112 if (!(dx_hand_model_DW.obj_bs.SampleTime == dx_hand_model_P.update_param)) {
18113 p_0 = false;
18114 }
18115
18116 if (p_0) {
18117 p = true;
18118 }
18119
18120 if (!p) {
18121 dx_hand_model_DW.obj_bs.SampleTime = dx_hand_model_P.update_param;
18122 }
18123
18124 ParamGet_dx_hand_model_3405.get_parameter(&dx_hand_model_B.GetParameter3_cq);
18125
18126 /* End of Start for MATLABSystem: '<S87>/Get Parameter3' */
18127
18128 /* Start for MATLABSystem: '<S88>/Get Parameter3' */
18129 p = false;
18130 p_0 = true;
18131 if (!(dx_hand_model_DW.obj_hxn.SampleTime == dx_hand_model_P.update_param)) {
18132 p_0 = false;
18133 }
18134
18135 if (p_0) {
18136 p = true;
18137 }
18138
18139 if (!p) {
18140 dx_hand_model_DW.obj_hxn.SampleTime = dx_hand_model_P.update_param;
18141 }
18142
18143 ParamGet_dx_hand_model_3412.get_parameter(&dx_hand_model_B.GetParameter3_es);
18144
18145 /* End of Start for MATLABSystem: '<S88>/Get Parameter3' */
18146
18147 /* Start for MATLABSystem: '<S89>/Get Parameter3' */
18148 p = false;
18149 p_0 = true;
18150 if (!(dx_hand_model_DW.obj_ddh.SampleTime == dx_hand_model_P.update_param)) {
18151 p_0 = false;
18152 }
18153
18154 if (p_0) {
18155 p = true;
18156 }
18157
18158 if (!p) {
18159 dx_hand_model_DW.obj_ddh.SampleTime = dx_hand_model_P.update_param;
18160 }
18161
18162 ParamGet_dx_hand_model_3498.get_parameter(&dx_hand_model_B.GetParameter3_n4e);
18163
18164 /* End of Start for MATLABSystem: '<S89>/Get Parameter3' */
18165
18166 /* Start for MATLABSystem: '<S124>/Get Parameter3' */
18167 p = false;
18168 p_0 = true;
18169 if (!(dx_hand_model_DW.obj_pp.SampleTime == dx_hand_model_P.update_param)) {
18170 p_0 = false;
18171 }
18172
18173 if (p_0) {
18174 p = true;
18175 }
18176
18177 if (!p) {
18178 dx_hand_model_DW.obj_pp.SampleTime = dx_hand_model_P.update_param;
18179 }
18180
18181 ParamGet_dx_hand_model_4887.get_parameter(&dx_hand_model_B.GetParameter3_p5);
18182
18183 /* End of Start for MATLABSystem: '<S124>/Get Parameter3' */
18184
18185 /* Start for MATLABSystem: '<S125>/Get Parameter3' */
18186 p = false;
18187 p_0 = true;
18188 if (!(dx_hand_model_DW.obj_ej.SampleTime == dx_hand_model_P.update_param)) {
18189 p_0 = false;
18190 }
18191
18192 if (p_0) {
18193 p = true;
18194 }
18195
18196 if (!p) {
18197 dx_hand_model_DW.obj_ej.SampleTime = dx_hand_model_P.update_param;
18198 }
18199
18200 ParamGet_dx_hand_model_4895.get_parameter(&dx_hand_model_B.GetParameter3_lo);
18201
18202 /* End of Start for MATLABSystem: '<S125>/Get Parameter3' */
18203
18204 /* Start for MATLABSystem: '<S126>/Get Parameter3' */
18205 p = false;
18206 p_0 = true;
18207 if (!(dx_hand_model_DW.obj_hxt.SampleTime == dx_hand_model_P.update_param)) {
18208 p_0 = false;
18209 }
18210
18211 if (p_0) {
18212 p = true;
18213 }
18214
18215 if (!p) {
18216 dx_hand_model_DW.obj_hxt.SampleTime = dx_hand_model_P.update_param;
18217 }
18218
18219 ParamGet_dx_hand_model_4579.get_parameter(&dx_hand_model_B.GetParameter3_b5);
18220
18221 /* End of Start for MATLABSystem: '<S126>/Get Parameter3' */
18222
18223 /* Start for MATLABSystem: '<S139>/Get Parameter3' */
18224 p = false;
18225 p_0 = true;
18226 if (!(dx_hand_model_DW.obj_lmh.SampleTime == dx_hand_model_P.update_param)) {
18227 p_0 = false;
18228 }
18229
18230 if (p_0) {
18231 p = true;
18232 }
18233
18234 if (!p) {
18235 dx_hand_model_DW.obj_lmh.SampleTime = dx_hand_model_P.update_param;
18236 }
18237
18238 ParamGet_dx_hand_model_4616.get_parameter(&dx_hand_model_B.GetParameter3_o1_cl);
18239
18240 /* End of Start for MATLABSystem: '<S139>/Get Parameter3' */
18241
18242 /* Start for MATLABSystem: '<S146>/Get Parameter' */
18243 p = false;
18244 p_0 = true;
18245 if (!(dx_hand_model_DW.obj_ee.SampleTime == dx_hand_model_P.update_param)) {
18246 p_0 = false;
18247 }
18248
18249 if (p_0) {
18250 p = true;
18251 }
18252
18253 if (!p) {
18254 dx_hand_model_DW.obj_ee.SampleTime = dx_hand_model_P.update_param;
18255 }
18256
18257 ParamGet_dx_hand_model_4640.get_parameter(&dx_hand_model_B.GetParameter3);
18258
18259 /* Start for MATLABSystem: '<S146>/Get Parameter1' */
18260 p = false;
18261 p_0 = true;
18262 if (!(dx_hand_model_DW.obj_ny.SampleTime == dx_hand_model_P.update_param)) {
18263 p_0 = false;
18264 }
18265
18266 if (p_0) {
18267 p = true;
18268 }
18269
18270 if (!p) {
18271 dx_hand_model_DW.obj_ny.SampleTime = dx_hand_model_P.update_param;
18272 }
18273
18274 ParamGet_dx_hand_model_4641.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);
18275
18276 /* Start for MATLABSystem: '<S146>/Get Parameter2' */
18277 p = false;
18278 p_0 = true;
18279 if (!(dx_hand_model_DW.obj_jl.SampleTime == dx_hand_model_P.update_param)) {
18280 p_0 = false;
18281 }
18282
18283 if (p_0) {
18284 p = true;
18285 }
18286
18287 if (!p) {
18288 dx_hand_model_DW.obj_jl.SampleTime = dx_hand_model_P.update_param;
18289 }
18290
18291 ParamGet_dx_hand_model_4642.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);
18292
18293 /* Start for MATLABSystem: '<S146>/Get Parameter3' */
18294 p = false;
18295 p_0 = true;
18296 if (!(dx_hand_model_DW.obj_bu.SampleTime == dx_hand_model_P.update_param)) {
18297 p_0 = false;
18298 }
18299
18300 if (p_0) {
18301 p = true;
18302 }
18303
18304 if (!p) {
18305 dx_hand_model_DW.obj_bu.SampleTime = dx_hand_model_P.update_param;
18306 }
18307
18308 ParamGet_dx_hand_model_4643.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);
18309
18310 /* Start for MATLABSystem: '<S146>/Get Parameter4' */
18311 p = false;
18312 p_0 = true;
18313 if (!(dx_hand_model_DW.obj_dc.SampleTime == dx_hand_model_P.update_param)) {
18314 p_0 = false;
18315 }
18316
18317 if (p_0) {
18318 p = true;
18319 }
18320
18321 if (!p) {
18322 dx_hand_model_DW.obj_dc.SampleTime = dx_hand_model_P.update_param;
18323 }
18324
18325 ParamGet_dx_hand_model_4644.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);
18326
18327 /* ManualSwitch: '<S141>/Manual Switch' incorporates:
18328 * Constant: '<S147>/Antonio'
18329 * MATLABSystem: '<S146>/Get Parameter'
18330 * MATLABSystem: '<S146>/Get Parameter'
18331 * MATLABSystem: '<S146>/Get Parameter1'
18332 * MATLABSystem: '<S146>/Get Parameter1'
18333 * MATLABSystem: '<S146>/Get Parameter2'
18334 * MATLABSystem: '<S146>/Get Parameter2'
18335 * MATLABSystem: '<S146>/Get Parameter3'
18336 * MATLABSystem: '<S146>/Get Parameter3'
18337 * MATLABSystem: '<S146>/Get Parameter4'
18338 * MATLABSystem: '<S146>/Get Parameter4'
18339 */
18340 if (dx_hand_model_P.ManualSwitch_CurrentSetting_b == 1) {
18341 dx_hand_model_B.ManualSwitch_c[0] = dx_hand_model_B.GetParameter3_o1_o1;
18342 dx_hand_model_B.ManualSwitch_c[1] = dx_hand_model_B.GetParameter3_o1_el;
18343 dx_hand_model_B.ManualSwitch_c[2] = dx_hand_model_B.GetParameter3;
18344 dx_hand_model_B.ManualSwitch_c[3] = dx_hand_model_B.GetParameter3_o1_ix;
18345 dx_hand_model_B.ManualSwitch_c[4] = dx_hand_model_B.GetParameter3_o1_kn;
18346 } else {
18347 dx_hand_model_B.ManualSwitch_c[0] = dx_hand_model_P.Antonio_Value_k[0];
18348 dx_hand_model_B.ManualSwitch_c[1] = dx_hand_model_P.Antonio_Value_k[1];
18349 dx_hand_model_B.ManualSwitch_c[2] = dx_hand_model_P.Antonio_Value_k[2];
18350 dx_hand_model_B.ManualSwitch_c[3] = dx_hand_model_P.Antonio_Value_k[3];
18351 dx_hand_model_B.ManualSwitch_c[4] = dx_hand_model_P.Antonio_Value_k[4];
18352 }
18353
18354 /* End of ManualSwitch: '<S141>/Manual Switch' */
18355
18356 /* Start for MATLABSystem: '<S153>/Get Parameter3' */
18357 p = false;
18358 p_0 = true;
18359 if (!(dx_hand_model_DW.obj_lm.SampleTime == dx_hand_model_P.update_param)) {
18360 p_0 = false;
18361 }
18362
18363 if (p_0) {
18364 p = true;
18365 }
18366
18367 if (!p) {
18368 dx_hand_model_DW.obj_lm.SampleTime = dx_hand_model_P.update_param;
18369 }
18370
18371 ParamGet_dx_hand_model_4700.get_parameter(&dx_hand_model_B.GetParameter3_o1_pq);
18372
18373 /* End of Start for MATLABSystem: '<S153>/Get Parameter3' */
18374
18375 /* Start for MATLABSystem: '<S154>/Get Parameter3' */
18376 p = false;
18377 p_0 = true;
18378 if (!(dx_hand_model_DW.obj_ov.SampleTime == dx_hand_model_P.update_param)) {
18379 p_0 = false;
18380 }
18381
18382 if (p_0) {
18383 p = true;
18384 }
18385
18386 if (!p) {
18387 dx_hand_model_DW.obj_ov.SampleTime = dx_hand_model_P.update_param;
18388 }
18389
18390 ParamGet_dx_hand_model_4710.get_parameter(&dx_hand_model_B.GetParameter3_o1_af);
18391
18392 /* End of Start for MATLABSystem: '<S154>/Get Parameter3' */
18393
18394 /* Start for MATLABSystem: '<S152>/Get Parameter3' */
18395 p = false;
18396 p_0 = true;
18397 if (!(dx_hand_model_DW.obj_mz4.SampleTime == dx_hand_model_P.update_param)) {
18398 p_0 = false;
18399 }
18400
18401 if (p_0) {
18402 p = true;
18403 }
18404
18405 if (!p) {
18406 dx_hand_model_DW.obj_mz4.SampleTime = dx_hand_model_P.update_param;
18407 }
18408
18409 ParamGet_dx_hand_model_4720.get_parameter(&dx_hand_model_B.GetParameter3_o1_e3);
18410
18411 /* End of Start for MATLABSystem: '<S152>/Get Parameter3' */
18412
18413 /* Start for MATLABSystem: '<S161>/Get Parameter3' */
18414 p = false;
18415 p_0 = true;
18416 if (!(dx_hand_model_DW.obj_dd.SampleTime == dx_hand_model_P.update_param)) {
18417 p_0 = false;
18418 }
18419
18420 if (p_0) {
18421 p = true;
18422 }
18423
18424 if (!p) {
18425 dx_hand_model_DW.obj_dd.SampleTime = dx_hand_model_P.update_param;
18426 }
18427
18428 ParamGet_dx_hand_model_4743.get_parameter(&dx_hand_model_B.GetParameter3_o1_m);
18429
18430 /* End of Start for MATLABSystem: '<S161>/Get Parameter3' */
18431
18432 /* Start for MATLABSystem: '<S162>/Get Parameter3' */
18433 p = false;
18434 p_0 = true;
18435 if (!(dx_hand_model_DW.obj_mz.SampleTime == dx_hand_model_P.update_param)) {
18436 p_0 = false;
18437 }
18438
18439 if (p_0) {
18440 p = true;
18441 }
18442
18443 if (!p) {
18444 dx_hand_model_DW.obj_mz.SampleTime = dx_hand_model_P.update_param;
18445 }
18446
18447 ParamGet_dx_hand_model_4758.get_parameter(&dx_hand_model_B.GetParameter3_pe);
18448
18449 /* End of Start for MATLABSystem: '<S162>/Get Parameter3' */
18450
18451 /* Start for MATLABSystem: '<S163>/Get Parameter3' */
18452 p = false;
18453 p_0 = true;
18454 if (!(dx_hand_model_DW.obj_ob.SampleTime == dx_hand_model_P.update_param)) {
18455 p_0 = false;
18456 }
18457
18458 if (p_0) {
18459 p = true;
18460 }
18461
18462 if (!p) {
18463 dx_hand_model_DW.obj_ob.SampleTime = dx_hand_model_P.update_param;
18464 }
18465
18466 ParamGet_dx_hand_model_4766.get_parameter(&dx_hand_model_B.GetParameter3_bz);
18467
18468 /* End of Start for MATLABSystem: '<S163>/Get Parameter3' */
18469
18470 /* Start for MATLABSystem: '<S164>/Get Parameter3' */
18471 p = false;
18472 p_0 = true;
18473 if (!(dx_hand_model_DW.obj_c4.SampleTime == dx_hand_model_P.update_param)) {
18474 p_0 = false;
18475 }
18476
18477 if (p_0) {
18478 p = true;
18479 }
18480
18481 if (!p) {
18482 dx_hand_model_DW.obj_c4.SampleTime = dx_hand_model_P.update_param;
18483 }
18484
18485 ParamGet_dx_hand_model_4773.get_parameter(&dx_hand_model_B.GetParameter3_pl);
18486
18487 /* End of Start for MATLABSystem: '<S164>/Get Parameter3' */
18488
18489 /* Start for MATLABSystem: '<S165>/Get Parameter3' */
18490 p = false;
18491 p_0 = true;
18492 if (!(dx_hand_model_DW.obj_ae.SampleTime == dx_hand_model_P.update_param)) {
18493 p_0 = false;
18494 }
18495
18496 if (p_0) {
18497 p = true;
18498 }
18499
18500 if (!p) {
18501 dx_hand_model_DW.obj_ae.SampleTime = dx_hand_model_P.update_param;
18502 }
18503
18504 ParamGet_dx_hand_model_4780.get_parameter(&dx_hand_model_B.GetParameter3_b);
18505
18506 /* End of Start for MATLABSystem: '<S165>/Get Parameter3' */
18507
18508 /* Start for MATLABSystem: '<S166>/Get Parameter3' */
18509 p = false;
18510 p_0 = true;
18511 if (!(dx_hand_model_DW.obj_e4.SampleTime == dx_hand_model_P.update_param)) {
18512 p_0 = false;
18513 }
18514
18515 if (p_0) {
18516 p = true;
18517 }
18518
18519 if (!p) {
18520 dx_hand_model_DW.obj_e4.SampleTime = dx_hand_model_P.update_param;
18521 }
18522
18523 ParamGet_dx_hand_model_4787.get_parameter(&dx_hand_model_B.GetParameter3_ax);
18524
18525 /* End of Start for MATLABSystem: '<S166>/Get Parameter3' */
18526
18527 /* Start for MATLABSystem: '<S167>/Get Parameter3' */
18528 p = false;
18529 p_0 = true;
18530 if (!(dx_hand_model_DW.obj_dg.SampleTime == dx_hand_model_P.update_param)) {
18531 p_0 = false;
18532 }
18533
18534 if (p_0) {
18535 p = true;
18536 }
18537
18538 if (!p) {
18539 dx_hand_model_DW.obj_dg.SampleTime = dx_hand_model_P.update_param;
18540 }
18541
18542 ParamGet_dx_hand_model_4794.get_parameter(&dx_hand_model_B.GetParameter3_nf);
18543
18544 /* End of Start for MATLABSystem: '<S167>/Get Parameter3' */
18545
18546 /* Start for MATLABSystem: '<S131>/Get Parameter3' */
18547 p = false;
18548 p_0 = true;
18549 if (!(dx_hand_model_DW.obj_kw.SampleTime == dx_hand_model_P.update_param)) {
18550 p_0 = false;
18551 }
18552
18553 if (p_0) {
18554 p = true;
18555 }
18556
18557 if (!p) {
18558 dx_hand_model_DW.obj_kw.SampleTime = dx_hand_model_P.update_param;
18559 }
18560
18561 ParamGet_dx_hand_model_4804.get_parameter(&dx_hand_model_B.GetParameter3_o1_jy);
18562
18563 /* End of Start for MATLABSystem: '<S131>/Get Parameter3' */
18564
18565 /* Start for MATLABSystem: '<S134>/Get Parameter3' */
18566 p = false;
18567 p_0 = true;
18568 if (!(dx_hand_model_DW.obj_hl.SampleTime == dx_hand_model_P.update_param)) {
18569 p_0 = false;
18570 }
18571
18572 if (p_0) {
18573 p = true;
18574 }
18575
18576 if (!p) {
18577 dx_hand_model_DW.obj_hl.SampleTime = dx_hand_model_P.update_param;
18578 }
18579
18580 ParamGet_dx_hand_model_4815.get_parameter(&dx_hand_model_B.GetParameter3_kq);
18581
18582 /* End of Start for MATLABSystem: '<S134>/Get Parameter3' */
18583
18584 /* Start for MATLABSystem: '<S135>/Get Parameter3' */
18585 p = false;
18586 p_0 = true;
18587 if (!(dx_hand_model_DW.obj_dy.SampleTime == dx_hand_model_P.update_param)) {
18588 p_0 = false;
18589 }
18590
18591 if (p_0) {
18592 p = true;
18593 }
18594
18595 if (!p) {
18596 dx_hand_model_DW.obj_dy.SampleTime = dx_hand_model_P.update_param;
18597 }
18598
18599 ParamGet_dx_hand_model_4822.get_parameter(&dx_hand_model_B.GetParameter3_l);
18600
18601 /* End of Start for MATLABSystem: '<S135>/Get Parameter3' */
18602
18603 /* Start for MATLABSystem: '<S136>/Get Parameter3' */
18604 p = false;
18605 p_0 = true;
18606 if (!(dx_hand_model_DW.obj_gw.SampleTime == dx_hand_model_P.update_param)) {
18607 p_0 = false;
18608 }
18609
18610 if (p_0) {
18611 p = true;
18612 }
18613
18614 if (!p) {
18615 dx_hand_model_DW.obj_gw.SampleTime = dx_hand_model_P.update_param;
18616 }
18617
18618 ParamGet_dx_hand_model_4829.get_parameter(&dx_hand_model_B.GetParameter3_n4);
18619
18620 /* End of Start for MATLABSystem: '<S136>/Get Parameter3' */
18621
18622 /* Start for MATLABSystem: '<S169>/Get Parameter3' */
18623 p = false;
18624 p_0 = true;
18625 if (!(dx_hand_model_DW.obj_gb.SampleTime == dx_hand_model_P.update_param)) {
18626 p_0 = false;
18627 }
18628
18629 if (p_0) {
18630 p = true;
18631 }
18632
18633 if (!p) {
18634 dx_hand_model_DW.obj_gb.SampleTime = dx_hand_model_P.update_param;
18635 }
18636
18637 ParamGet_dx_hand_model_4879.get_parameter(&dx_hand_model_B.GetParameter3_c);
18638
18639 /* End of Start for MATLABSystem: '<S169>/Get Parameter3' */
18640
18641 /* Start for MATLABSystem: '<S170>/Get Parameter3' */
18642 p = false;
18643 p_0 = true;
18644 if (!(dx_hand_model_DW.obj_ln.SampleTime == dx_hand_model_P.update_param)) {
18645 p_0 = false;
18646 }
18647
18648 if (p_0) {
18649 p = true;
18650 }
18651
18652 if (!p) {
18653 dx_hand_model_DW.obj_ln.SampleTime = dx_hand_model_P.update_param;
18654 }
18655
18656 ParamGet_dx_hand_model_4903.get_parameter(&dx_hand_model_B.GetParameter3_k5);
18657
18658 /* End of Start for MATLABSystem: '<S170>/Get Parameter3' */
18659
18660 /* Start for MATLABSystem: '<S171>/Get Parameter3' */
18661 p = false;
18662 p_0 = true;
18663 if (!(dx_hand_model_DW.obj_a.SampleTime == dx_hand_model_P.update_param)) {
18664 p_0 = false;
18665 }
18666
18667 if (p_0) {
18668 p = true;
18669 }
18670
18671 if (!p) {
18672 dx_hand_model_DW.obj_a.SampleTime = dx_hand_model_P.update_param;
18673 }
18674
18675 ParamGet_dx_hand_model_4283.get_parameter(&dx_hand_model_B.GetParameter3_ku);
18676
18677 /* End of Start for MATLABSystem: '<S171>/Get Parameter3' */
18678
18679 /* Start for MATLABSystem: '<S184>/Get Parameter3' */
18680 p = false;
18681 p_0 = true;
18682 if (!(dx_hand_model_DW.obj_ja.SampleTime == dx_hand_model_P.update_param)) {
18683 p_0 = false;
18684 }
18685
18686 if (p_0) {
18687 p = true;
18688 }
18689
18690 if (!p) {
18691 dx_hand_model_DW.obj_ja.SampleTime = dx_hand_model_P.update_param;
18692 }
18693
18694 ParamGet_dx_hand_model_4319.get_parameter(&dx_hand_model_B.GetParameter3_o1_d);
18695
18696 /* End of Start for MATLABSystem: '<S184>/Get Parameter3' */
18697
18698 /* Start for MATLABSystem: '<S191>/Get Parameter' */
18699 p = false;
18700 p_0 = true;
18701 if (!(dx_hand_model_DW.obj_he.SampleTime == dx_hand_model_P.update_param)) {
18702 p_0 = false;
18703 }
18704
18705 if (p_0) {
18706 p = true;
18707 }
18708
18709 if (!p) {
18710 dx_hand_model_DW.obj_he.SampleTime = dx_hand_model_P.update_param;
18711 }
18712
18713 ParamGet_dx_hand_model_3254.get_parameter(&dx_hand_model_B.GetParameter3);
18714
18715 /* Start for MATLABSystem: '<S191>/Get Parameter1' */
18716 p = false;
18717 p_0 = true;
18718 if (!(dx_hand_model_DW.obj_nc.SampleTime == dx_hand_model_P.update_param)) {
18719 p_0 = false;
18720 }
18721
18722 if (p_0) {
18723 p = true;
18724 }
18725
18726 if (!p) {
18727 dx_hand_model_DW.obj_nc.SampleTime = dx_hand_model_P.update_param;
18728 }
18729
18730 ParamGet_dx_hand_model_3255.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);
18731
18732 /* Start for MATLABSystem: '<S191>/Get Parameter2' */
18733 p = false;
18734 p_0 = true;
18735 if (!(dx_hand_model_DW.obj_l4.SampleTime == dx_hand_model_P.update_param)) {
18736 p_0 = false;
18737 }
18738
18739 if (p_0) {
18740 p = true;
18741 }
18742
18743 if (!p) {
18744 dx_hand_model_DW.obj_l4.SampleTime = dx_hand_model_P.update_param;
18745 }
18746
18747 ParamGet_dx_hand_model_3256.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);
18748
18749 /* Start for MATLABSystem: '<S191>/Get Parameter3' */
18750 p = false;
18751 p_0 = true;
18752 if (!(dx_hand_model_DW.obj_fy.SampleTime == dx_hand_model_P.update_param)) {
18753 p_0 = false;
18754 }
18755
18756 if (p_0) {
18757 p = true;
18758 }
18759
18760 if (!p) {
18761 dx_hand_model_DW.obj_fy.SampleTime = dx_hand_model_P.update_param;
18762 }
18763
18764 ParamGet_dx_hand_model_3257.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);
18765
18766 /* Start for MATLABSystem: '<S191>/Get Parameter4' */
18767 p = false;
18768 p_0 = true;
18769 if (!(dx_hand_model_DW.obj_od.SampleTime == dx_hand_model_P.update_param)) {
18770 p_0 = false;
18771 }
18772
18773 if (p_0) {
18774 p = true;
18775 }
18776
18777 if (!p) {
18778 dx_hand_model_DW.obj_od.SampleTime = dx_hand_model_P.update_param;
18779 }
18780
18781 ParamGet_dx_hand_model_3258.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);
18782
18783 /* ManualSwitch: '<S186>/Manual Switch' incorporates:
18784 * Constant: '<S192>/Antonio'
18785 * MATLABSystem: '<S191>/Get Parameter'
18786 * MATLABSystem: '<S191>/Get Parameter'
18787 * MATLABSystem: '<S191>/Get Parameter1'
18788 * MATLABSystem: '<S191>/Get Parameter1'
18789 * MATLABSystem: '<S191>/Get Parameter2'
18790 * MATLABSystem: '<S191>/Get Parameter2'
18791 * MATLABSystem: '<S191>/Get Parameter3'
18792 * MATLABSystem: '<S191>/Get Parameter3'
18793 * MATLABSystem: '<S191>/Get Parameter4'
18794 * MATLABSystem: '<S191>/Get Parameter4'
18795 */
18796 if (dx_hand_model_P.ManualSwitch_CurrentSetting_ju == 1) {
18797 dx_hand_model_B.ManualSwitch_l[0] = dx_hand_model_B.GetParameter3_o1_o1;
18798 dx_hand_model_B.ManualSwitch_l[1] = dx_hand_model_B.GetParameter3_o1_el;
18799 dx_hand_model_B.ManualSwitch_l[2] = dx_hand_model_B.GetParameter3;
18800 dx_hand_model_B.ManualSwitch_l[3] = dx_hand_model_B.GetParameter3_o1_ix;
18801 dx_hand_model_B.ManualSwitch_l[4] = dx_hand_model_B.GetParameter3_o1_kn;
18802 } else {
18803 dx_hand_model_B.ManualSwitch_l[0] = dx_hand_model_P.Antonio_Value_e[0];
18804 dx_hand_model_B.ManualSwitch_l[1] = dx_hand_model_P.Antonio_Value_e[1];
18805 dx_hand_model_B.ManualSwitch_l[2] = dx_hand_model_P.Antonio_Value_e[2];
18806 dx_hand_model_B.ManualSwitch_l[3] = dx_hand_model_P.Antonio_Value_e[3];
18807 dx_hand_model_B.ManualSwitch_l[4] = dx_hand_model_P.Antonio_Value_e[4];
18808 }
18809
18810 /* End of ManualSwitch: '<S186>/Manual Switch' */
18811
18812 /* Start for MATLABSystem: '<S198>/Get Parameter3' */
18813 p = false;
18814 p_0 = true;
18815 if (!(dx_hand_model_DW.obj_oyi.SampleTime == dx_hand_model_P.update_param)) {
18816 p_0 = false;
18817 }
18818
18819 if (p_0) {
18820 p = true;
18821 }
18822
18823 if (!p) {
18824 dx_hand_model_DW.obj_oyi.SampleTime = dx_hand_model_P.update_param;
18825 }
18826
18827 ParamGet_dx_hand_model_4414.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);
18828
18829 /* End of Start for MATLABSystem: '<S198>/Get Parameter3' */
18830
18831 /* Start for MATLABSystem: '<S199>/Get Parameter3' */
18832 p = false;
18833 p_0 = true;
18834 if (!(dx_hand_model_DW.obj_pt.SampleTime == dx_hand_model_P.update_param)) {
18835 p_0 = false;
18836 }
18837
18838 if (p_0) {
18839 p = true;
18840 }
18841
18842 if (!p) {
18843 dx_hand_model_DW.obj_pt.SampleTime = dx_hand_model_P.update_param;
18844 }
18845
18846 ParamGet_dx_hand_model_4424.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);
18847
18848 /* End of Start for MATLABSystem: '<S199>/Get Parameter3' */
18849
18850 /* Start for MATLABSystem: '<S197>/Get Parameter3' */
18851 p = false;
18852 p_0 = true;
18853 if (!(dx_hand_model_DW.obj_pap.SampleTime == dx_hand_model_P.update_param)) {
18854 p_0 = false;
18855 }
18856
18857 if (p_0) {
18858 p = true;
18859 }
18860
18861 if (!p) {
18862 dx_hand_model_DW.obj_pap.SampleTime = dx_hand_model_P.update_param;
18863 }
18864
18865 ParamGet_dx_hand_model_4434.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);
18866
18867 /* End of Start for MATLABSystem: '<S197>/Get Parameter3' */
18868
18869 /* Start for MATLABSystem: '<S206>/Get Parameter3' */
18870 p = false;
18871 p_0 = true;
18872 if (!(dx_hand_model_DW.obj_mm.SampleTime == dx_hand_model_P.update_param)) {
18873 p_0 = false;
18874 }
18875
18876 if (p_0) {
18877 p = true;
18878 }
18879
18880 if (!p) {
18881 dx_hand_model_DW.obj_mm.SampleTime = dx_hand_model_P.update_param;
18882 }
18883
18884 ParamGet_dx_hand_model_4457.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);
18885
18886 /* End of Start for MATLABSystem: '<S206>/Get Parameter3' */
18887
18888 /* Start for MATLABSystem: '<S207>/Get Parameter3' */
18889 p = false;
18890 p_0 = true;
18891 if (!(dx_hand_model_DW.obj_hx.SampleTime == dx_hand_model_P.update_param)) {
18892 p_0 = false;
18893 }
18894
18895 if (p_0) {
18896 p = true;
18897 }
18898
18899 if (!p) {
18900 dx_hand_model_DW.obj_hx.SampleTime = dx_hand_model_P.update_param;
18901 }
18902
18903 ParamGet_dx_hand_model_4472.get_parameter(&dx_hand_model_B.GetParameter3_k);
18904
18905 /* End of Start for MATLABSystem: '<S207>/Get Parameter3' */
18906
18907 /* Start for MATLABSystem: '<S208>/Get Parameter3' */
18908 p = false;
18909 p_0 = true;
18910 if (!(dx_hand_model_DW.obj_gt.SampleTime == dx_hand_model_P.update_param)) {
18911 p_0 = false;
18912 }
18913
18914 if (p_0) {
18915 p = true;
18916 }
18917
18918 if (!p) {
18919 dx_hand_model_DW.obj_gt.SampleTime = dx_hand_model_P.update_param;
18920 }
18921
18922 ParamGet_dx_hand_model_4480.get_parameter(&dx_hand_model_B.GetParameter3_p);
18923
18924 /* End of Start for MATLABSystem: '<S208>/Get Parameter3' */
18925
18926 /* Start for MATLABSystem: '<S209>/Get Parameter3' */
18927 p = false;
18928 p_0 = true;
18929 if (!(dx_hand_model_DW.obj_oy.SampleTime == dx_hand_model_P.update_param)) {
18930 p_0 = false;
18931 }
18932
18933 if (p_0) {
18934 p = true;
18935 }
18936
18937 if (!p) {
18938 dx_hand_model_DW.obj_oy.SampleTime = dx_hand_model_P.update_param;
18939 }
18940
18941 ParamGet_dx_hand_model_4487.get_parameter(&dx_hand_model_B.GetParameter3_a);
18942
18943 /* End of Start for MATLABSystem: '<S209>/Get Parameter3' */
18944
18945 /* Start for MATLABSystem: '<S210>/Get Parameter3' */
18946 p = false;
18947 p_0 = true;
18948 if (!(dx_hand_model_DW.obj_cy.SampleTime == dx_hand_model_P.update_param)) {
18949 p_0 = false;
18950 }
18951
18952 if (p_0) {
18953 p = true;
18954 }
18955
18956 if (!p) {
18957 dx_hand_model_DW.obj_cy.SampleTime = dx_hand_model_P.update_param;
18958 }
18959
18960 ParamGet_dx_hand_model_4494.get_parameter(&dx_hand_model_B.GetParameter3_j1);
18961
18962 /* End of Start for MATLABSystem: '<S210>/Get Parameter3' */
18963
18964 /* Start for MATLABSystem: '<S211>/Get Parameter3' */
18965 p = false;
18966 p_0 = true;
18967 if (!(dx_hand_model_DW.obj_of.SampleTime == dx_hand_model_P.update_param)) {
18968 p_0 = false;
18969 }
18970
18971 if (p_0) {
18972 p = true;
18973 }
18974
18975 if (!p) {
18976 dx_hand_model_DW.obj_of.SampleTime = dx_hand_model_P.update_param;
18977 }
18978
18979 ParamGet_dx_hand_model_4501.get_parameter(&dx_hand_model_B.GetParameter3_e);
18980
18981 /* End of Start for MATLABSystem: '<S211>/Get Parameter3' */
18982
18983 /* Start for MATLABSystem: '<S212>/Get Parameter3' */
18984 p = false;
18985 p_0 = true;
18986 if (!(dx_hand_model_DW.obj_lu.SampleTime == dx_hand_model_P.update_param)) {
18987 p_0 = false;
18988 }
18989
18990 if (p_0) {
18991 p = true;
18992 }
18993
18994 if (!p) {
18995 dx_hand_model_DW.obj_lu.SampleTime = dx_hand_model_P.update_param;
18996 }
18997
18998 ParamGet_dx_hand_model_4508.get_parameter(&dx_hand_model_B.GetParameter3_j);
18999
19000 /* End of Start for MATLABSystem: '<S212>/Get Parameter3' */
19001
19002 /* Start for MATLABSystem: '<S176>/Get Parameter3' */
19003 p = false;
19004 p_0 = true;
19005 if (!(dx_hand_model_DW.obj_m0.SampleTime == dx_hand_model_P.update_param)) {
19006 p_0 = false;
19007 }
19008
19009 if (p_0) {
19010 p = true;
19011 }
19012
19013 if (!p) {
19014 dx_hand_model_DW.obj_m0.SampleTime = dx_hand_model_P.update_param;
19015 }
19016
19017 ParamGet_dx_hand_model_4518.get_parameter(&dx_hand_model_B.GetParameter3_o1_o);
19018
19019 /* End of Start for MATLABSystem: '<S176>/Get Parameter3' */
19020
19021 /* Start for MATLABSystem: '<S179>/Get Parameter3' */
19022 p = false;
19023 p_0 = true;
19024 if (!(dx_hand_model_DW.obj_hk.SampleTime == dx_hand_model_P.update_param)) {
19025 p_0 = false;
19026 }
19027
19028 if (p_0) {
19029 p = true;
19030 }
19031
19032 if (!p) {
19033 dx_hand_model_DW.obj_hk.SampleTime = dx_hand_model_P.update_param;
19034 }
19035
19036 ParamGet_dx_hand_model_4529.get_parameter(&dx_hand_model_B.GetParameter3_i);
19037
19038 /* End of Start for MATLABSystem: '<S179>/Get Parameter3' */
19039
19040 /* Start for MATLABSystem: '<S180>/Get Parameter3' */
19041 p = false;
19042 p_0 = true;
19043 if (!(dx_hand_model_DW.obj_ly.SampleTime == dx_hand_model_P.update_param)) {
19044 p_0 = false;
19045 }
19046
19047 if (p_0) {
19048 p = true;
19049 }
19050
19051 if (!p) {
19052 dx_hand_model_DW.obj_ly.SampleTime = dx_hand_model_P.update_param;
19053 }
19054
19055 ParamGet_dx_hand_model_4536.get_parameter(&dx_hand_model_B.GetParameter3_o);
19056
19057 /* End of Start for MATLABSystem: '<S180>/Get Parameter3' */
19058
19059 /* Start for MATLABSystem: '<S181>/Get Parameter3' */
19060 p = false;
19061 p_0 = true;
19062 if (!(dx_hand_model_DW.obj_nr.SampleTime == dx_hand_model_P.update_param)) {
19063 p_0 = false;
19064 }
19065
19066 if (p_0) {
19067 p = true;
19068 }
19069
19070 if (!p) {
19071 dx_hand_model_DW.obj_nr.SampleTime = dx_hand_model_P.update_param;
19072 }
19073
19074 ParamGet_dx_hand_model_4543.get_parameter(&dx_hand_model_B.GetParameter3_n);
19075
19076 /* End of Start for MATLABSystem: '<S181>/Get Parameter3' */
19077
19078 /* Start for MATLABSystem: '<S314>/Get Parameter3' */
19079 p = false;
19080 p_0 = true;
19081 if (!(dx_hand_model_DW.obj_l.SampleTime == dx_hand_model_P.update_param)) {
19082 p_0 = false;
19083 }
19084
19085 if (p_0) {
19086 p = true;
19087 }
19088
19089 if (!p) {
19090 dx_hand_model_DW.obj_l.SampleTime = dx_hand_model_P.update_param;
19091 }
19092
19093 ParamGet_dx_hand_model_3810.get_parameter(&dx_hand_model_B.GetParameter3_o1_p);
19094
19095 /* End of Start for MATLABSystem: '<S314>/Get Parameter3' */
19096
19097 /* Start for MATLABSystem: '<S315>/Get Parameter3' */
19098 p = false;
19099 p_0 = true;
19100 if (!(dx_hand_model_DW.obj.SampleTime == dx_hand_model_P.update_param)) {
19101 p_0 = false;
19102 }
19103
19104 if (p_0) {
19105 p = true;
19106 }
19107
19108 if (!p) {
19109 dx_hand_model_DW.obj.SampleTime = dx_hand_model_P.update_param;
19110 }
19111
19112 ParamGet_dx_hand_model_3817.get_parameter(&dx_hand_model_B.GetParameter3);
19113
19114 /* End of Start for MATLABSystem: '<S315>/Get Parameter3' */
19115
19116 /* Start for MATLABSystem: '<S266>/Get Parameter3' */
19117 p = false;
19118 p_0 = true;
19119 if (!(dx_hand_model_DW.obj_d.SampleTime == dx_hand_model_P.update_param)) {
19120 p_0 = false;
19121 }
19122
19123 if (p_0) {
19124 p = true;
19125 }
19126
19127 if (!p) {
19128 dx_hand_model_DW.obj_d.SampleTime = dx_hand_model_P.update_param;
19129 }
19130
19131 ParamGet_dx_hand_model_4863.get_parameter(&dx_hand_model_B.GetParameter3);
19132
19133 /* End of Start for MATLABSystem: '<S266>/Get Parameter3' */
19134
19135 /* Start for MATLABSystem: '<S267>/Get Parameter3' */
19136 p = false;
19137 p_0 = true;
19138 if (!(dx_hand_model_DW.obj_jv.SampleTime == dx_hand_model_P.update_param)) {
19139 p_0 = false;
19140 }
19141
19142 if (p_0) {
19143 p = true;
19144 }
19145
19146 if (!p) {
19147 dx_hand_model_DW.obj_jv.SampleTime = dx_hand_model_P.update_param;
19148 }
19149
19150 ParamGet_dx_hand_model_3828.get_parameter(&dx_hand_model_B.GetParameter3_o1_j);
19151
19152 /* End of Start for MATLABSystem: '<S267>/Get Parameter3' */
19153
19154 /* Start for MATLABSystem: '<S268>/Get Parameter3' */
19155 p = false;
19156 p_0 = true;
19157 if (!(dx_hand_model_DW.obj_mk.SampleTime == dx_hand_model_P.update_param)) {
19158 p_0 = false;
19159 }
19160
19161 if (p_0) {
19162 p = true;
19163 }
19164
19165 if (!p) {
19166 dx_hand_model_DW.obj_mk.SampleTime = dx_hand_model_P.update_param;
19167 }
19168
19169 ParamGet_dx_hand_model_2962.get_parameter(&dx_hand_model_B.GetParameter3_o1_i);
19170
19171 /* End of Start for MATLABSystem: '<S268>/Get Parameter3' */
19172
19173 /* Start for MATLABSystem: '<S269>/Get Parameter3' */
19174 p = false;
19175 p_0 = true;
19176 if (!(dx_hand_model_DW.obj_jc.SampleTime == dx_hand_model_P.update_param)) {
19177 p_0 = false;
19178 }
19179
19180 if (p_0) {
19181 p = true;
19182 }
19183
19184 if (!p) {
19185 dx_hand_model_DW.obj_jc.SampleTime = dx_hand_model_P.update_param;
19186 }
19187
19188 ParamGet_dx_hand_model_3019.get_parameter(&dx_hand_model_B.GetParameter3_o1_l3);
19189
19190 /* End of Start for MATLABSystem: '<S269>/Get Parameter3' */
19191
19192 /* Start for MATLABSystem: '<S270>/Get Parameter3' */
19193 p = false;
19194 p_0 = true;
19195 if (!(dx_hand_model_DW.obj_e.SampleTime == dx_hand_model_P.update_param)) {
19196 p_0 = false;
19197 }
19198
19199 if (p_0) {
19200 p = true;
19201 }
19202
19203 if (!p) {
19204 dx_hand_model_DW.obj_e.SampleTime = dx_hand_model_P.update_param;
19205 }
19206
19207 ParamGet_dx_hand_model_3038.get_parameter(&dx_hand_model_B.GetParameter3_o1_ag);
19208
19209 /* End of Start for MATLABSystem: '<S270>/Get Parameter3' */
19210
19211 /* Start for MATLABSystem: '<S271>/Get Parameter3' */
19212 p = false;
19213 p_0 = true;
19214 if (!(dx_hand_model_DW.obj_b.SampleTime == dx_hand_model_P.update_param)) {
19215 p_0 = false;
19216 }
19217
19218 if (p_0) {
19219 p = true;
19220 }
19221
19222 if (!p) {
19223 dx_hand_model_DW.obj_b.SampleTime = dx_hand_model_P.update_param;
19224 }
19225
19226 ParamGet_dx_hand_model_4259.get_parameter(&dx_hand_model_B.GetParameter3_o1_l);
19227
19228 /* End of Start for MATLABSystem: '<S271>/Get Parameter3' */
19229
19230 /* Start for MATLABSystem: '<S272>/Get Parameter3' */
19231 p = false;
19232 p_0 = true;
19233 if (!(dx_hand_model_DW.obj_g.SampleTime == dx_hand_model_P.update_param)) {
19234 p_0 = false;
19235 }
19236
19237 if (p_0) {
19238 p = true;
19239 }
19240
19241 if (!p) {
19242 dx_hand_model_DW.obj_g.SampleTime = dx_hand_model_P.update_param;
19243 }
19244
19245 ParamGet_dx_hand_model_4267.get_parameter(&dx_hand_model_B.GetParameter3_o1_a);
19246
19247 /* End of Start for MATLABSystem: '<S272>/Get Parameter3' */
19248
19249 /* Start for MATLABSystem: '<S230>/Get Parameter' */
19250 p = false;
19251 p_0 = true;
19252 if (!(dx_hand_model_DW.obj_p.SampleTime == dx_hand_model_P.update_param)) {
19253 p_0 = false;
19254 }
19255
19256 if (p_0) {
19257 p = true;
19258 }
19259
19260 if (!p) {
19261 dx_hand_model_DW.obj_p.SampleTime = dx_hand_model_P.update_param;
19262 }
19263
19264 ParamGet_dx_hand_model_3442.get_parameter(&dx_hand_model_B.GetParameter_o1);
19265
19266 /* End of Start for MATLABSystem: '<S230>/Get Parameter' */
19267
19268 /* Start for MATLABSystem: '<S230>/Get Parameter2' */
19269 p = false;
19270 p_0 = true;
19271 if (!(dx_hand_model_DW.obj_m.SampleTime == dx_hand_model_P.update_param)) {
19272 p_0 = false;
19273 }
19274
19275 if (p_0) {
19276 p = true;
19277 }
19278
19279 if (!p) {
19280 dx_hand_model_DW.obj_m.SampleTime = dx_hand_model_P.update_param;
19281 }
19282
19283 ParamGet_dx_hand_model_3444.get_parameter(&dx_hand_model_B.GetParameter2_o1);
19284
19285 /* End of Start for MATLABSystem: '<S230>/Get Parameter2' */
19286
19287 /* Start for MATLABSystem: '<S230>/Get Parameter3' */
19288 p = false;
19289 p_0 = true;
19290 if (!(dx_hand_model_DW.obj_o.SampleTime == dx_hand_model_P.update_param)) {
19291 p_0 = false;
19292 }
19293
19294 if (p_0) {
19295 p = true;
19296 }
19297
19298 if (!p) {
19299 dx_hand_model_DW.obj_o.SampleTime = dx_hand_model_P.update_param;
19300 }
19301
19302 ParamGet_dx_hand_model_3445.get_parameter(&dx_hand_model_B.GetParameter3_o1_e);
19303
19304 /* End of Start for MATLABSystem: '<S230>/Get Parameter3' */
19305
19306 /* Start for MATLABSystem: '<S230>/Get Parameter1' */
19307 p = false;
19308 p_0 = true;
19309 if (!(dx_hand_model_DW.obj_c.SampleTime == dx_hand_model_P.update_param)) {
19310 p_0 = false;
19311 }
19312
19313 if (p_0) {
19314 p = true;
19315 }
19316
19317 if (!p) {
19318 dx_hand_model_DW.obj_c.SampleTime = dx_hand_model_P.update_param;
19319 }
19320
19321 ParamGet_dx_hand_model_3443.get_parameter(&dx_hand_model_B.GetParameter1_o1);
19322
19323 /* End of Start for MATLABSystem: '<S230>/Get Parameter1' */
19324
19325 /* Start for MATLABSystem: '<S230>/Get Parameter4' */
19326 p = false;
19327 p_0 = true;
19328 if (!(dx_hand_model_DW.obj_j.SampleTime == dx_hand_model_P.update_param)) {
19329 p_0 = false;
19330 }
19331
19332 if (p_0) {
19333 p = true;
19334 }
19335
19336 if (!p) {
19337 dx_hand_model_DW.obj_j.SampleTime = dx_hand_model_P.update_param;
19338 }
19339
19340 ParamGet_dx_hand_model_3446.get_parameter(&dx_hand_model_B.GetParameter4_o1);
19341
19342 /* End of Start for MATLABSystem: '<S230>/Get Parameter4' */
19343
19344 /* Start for MATLABSystem: '<S230>/Get Parameter5' */
19345 p = false;
19346 p_0 = true;
19347 if (!(dx_hand_model_DW.obj_p2.SampleTime == dx_hand_model_P.update_param)) {
19348 p_0 = false;
19349 }
19350
19351 if (p_0) {
19352 p = true;
19353 }
19354
19355 if (!p) {
19356 dx_hand_model_DW.obj_p2.SampleTime = dx_hand_model_P.update_param;
19357 }
19358
19359 ParamGet_dx_hand_model_3454.get_parameter(&dx_hand_model_B.GetParameter5_o1);
19360
19361 /* End of Start for MATLABSystem: '<S230>/Get Parameter5' */
19362
19363 /* Start for MATLABSystem: '<S230>/Get Parameter6' */
19364 p = false;
19365 p_0 = true;
19366 if (!(dx_hand_model_DW.obj_ca.SampleTime == dx_hand_model_P.update_param)) {
19367 p_0 = false;
19368 }
19369
19370 if (p_0) {
19371 p = true;
19372 }
19373
19374 if (!p) {
19375 dx_hand_model_DW.obj_ca.SampleTime = dx_hand_model_P.update_param;
19376 }
19377
19378 ParamGet_dx_hand_model_4055.get_parameter(&dx_hand_model_B.GetParameter6_o1);
19379
19380 /* End of Start for MATLABSystem: '<S230>/Get Parameter6' */
19381
19382 /* Start for MATLABSystem: '<S4>/Get Parameter1' */
19383 p = false;
19384 p_0 = true;
19385 if (!(dx_hand_model_DW.obj_b4.SampleTime == dx_hand_model_P.update_param)) {
19386 p_0 = false;
19387 }
19388
19389 if (p_0) {
19390 p = true;
19391 }
19392
19393 if (!p) {
19394 dx_hand_model_DW.obj_b4.SampleTime = dx_hand_model_P.update_param;
19395 }
19396
19397 ParamGet_dx_hand_model_4946.get_parameter(&dx_hand_model_B.GetParameter1_o1_p);
19398
19399 /* End of Start for MATLABSystem: '<S4>/Get Parameter1' */
19400
19401 /* Start for MATLABSystem: '<S24>/Get Parameter3' */
19402 p = false;
19403 p_0 = true;
19404 if (!(dx_hand_model_DW.obj_l3.SampleTime == dx_hand_model_P.update_param)) {
19405 p_0 = false;
19406 }
19407
19408 if (p_0) {
19409 p = true;
19410 }
19411
19412 if (!p) {
19413 dx_hand_model_DW.obj_l3.SampleTime = dx_hand_model_P.update_param;
19414 }
19415
19416 ParamGet_dx_hand_model_3210.get_parameter(&dx_hand_model_B.GetParameter3_o1_kf);
19417
19418 /* End of Start for MATLABSystem: '<S24>/Get Parameter3' */
19419
19420 /* Start for MATLABSystem: '<S10>/Get Parameter1' */
19421 p = false;
19422 p_0 = true;
19423 if (!(dx_hand_model_DW.obj_h.SampleTime == dx_hand_model_P.update_param)) {
19424 p_0 = false;
19425 }
19426
19427 if (p_0) {
19428 p = true;
19429 }
19430
19431 if (!p) {
19432 dx_hand_model_DW.obj_h.SampleTime = dx_hand_model_P.update_param;
19433 }
19434
19435 ParamGet_dx_hand_model_4942.get_parameter(&dx_hand_model_B.GetParameter1_o1_e);
19436
19437 /* End of Start for MATLABSystem: '<S10>/Get Parameter1' */
19438
19439 /* Start for MATLABSystem: '<S10>/Get Parameter3' */
19440 p = false;
19441 p_0 = true;
19442 if (!(dx_hand_model_DW.obj_k.SampleTime == dx_hand_model_P.update_param)) {
19443 p_0 = false;
19444 }
19445
19446 if (p_0) {
19447 p = true;
19448 }
19449
19450 if (!p) {
19451 dx_hand_model_DW.obj_k.SampleTime = dx_hand_model_P.update_param;
19452 }
19453
19454 ParamGet_dx_hand_model_2544.get_parameter(&dx_hand_model_B.GetParameter3_o1_h);
19455
19456 /* End of Start for MATLABSystem: '<S10>/Get Parameter3' */
19457
19458 /* Start for MATLABSystem: '<S221>/Get Parameter3' */
19459 p = false;
19460 p_0 = true;
19461 if (!(dx_hand_model_DW.obj_f.SampleTime == dx_hand_model_P.update_param)) {
19462 p_0 = false;
19463 }
19464
19465 if (p_0) {
19466 p = true;
19467 }
19468
19469 if (!p) {
19470 dx_hand_model_DW.obj_f.SampleTime = dx_hand_model_P.update_param;
19471 }
19472
19473 ParamGet_dx_hand_model_2723.get_parameter(&dx_hand_model_B.GetParameter3_o1_g);
19474
19475 /* End of Start for MATLABSystem: '<S221>/Get Parameter3' */
19476
19477 /* Start for MATLABSystem: '<S222>/Get Parameter3' */
19478 p = false;
19479 p_0 = true;
19480 if (!(dx_hand_model_DW.obj_n.SampleTime == dx_hand_model_P.update_param)) {
19481 p_0 = false;
19482 }
19483
19484 if (p_0) {
19485 p = true;
19486 }
19487
19488 if (!p) {
19489 dx_hand_model_DW.obj_n.SampleTime = dx_hand_model_P.update_param;
19490 }
19491
19492 ParamGet_dx_hand_model_2736.get_parameter(&dx_hand_model_B.GetParameter3_o1_pn);
19493
19494 /* End of Start for MATLABSystem: '<S222>/Get Parameter3' */
19495
19496 /* Start for MATLABSystem: '<S223>/Get Parameter3' */
19497 p = false;
19498 p_0 = true;
19499 if (!(dx_hand_model_DW.obj_cd.SampleTime == dx_hand_model_P.update_param)) {
19500 p_0 = false;
19501 }
19502
19503 if (p_0) {
19504 p = true;
19505 }
19506
19507 if (!p) {
19508 dx_hand_model_DW.obj_cd.SampleTime = dx_hand_model_P.update_param;
19509 }
19510
19511 ParamGet_dx_hand_model_2745.get_parameter(&dx_hand_model_B.GetParameter3_o1_k);
19512
19513 /* End of Start for MATLABSystem: '<S223>/Get Parameter3' */
19514
19515 /* Start for MATLABSystem: '<S224>/Get Parameter3' */
19516 p = false;
19517 p_0 = true;
19518 if (!(dx_hand_model_DW.obj_pa.SampleTime == dx_hand_model_P.update_param)) {
19519 p_0 = false;
19520 }
19521
19522 if (p_0) {
19523 p = true;
19524 }
19525
19526 if (!p) {
19527 dx_hand_model_DW.obj_pa.SampleTime = dx_hand_model_P.update_param;
19528 }
19529
19530 ParamGet_dx_hand_model_2754.get_parameter(&dx_hand_model_B.GetParameter3_o1_c);
19531
19532 /* End of Start for MATLABSystem: '<S224>/Get Parameter3' */
19533
19534 /* Start for MATLABSystem: '<S225>/Get Parameter3' */
19535 p = false;
19536 p_0 = true;
19537 if (!(dx_hand_model_DW.obj_bm.SampleTime == dx_hand_model_P.update_param)) {
19538 p_0 = false;
19539 }
19540
19541 if (p_0) {
19542 p = true;
19543 }
19544
19545 if (!p) {
19546 dx_hand_model_DW.obj_bm.SampleTime = dx_hand_model_P.update_param;
19547 }
19548
19549 ParamGet_dx_hand_model_2762.get_parameter(&dx_hand_model_B.GetParameter3_o1_ec);
19550
19551 /* End of Start for MATLABSystem: '<S225>/Get Parameter3' */
19552
19553 /* Start for MATLABSystem: '<S226>/Get Parameter3' */
19554 p = false;
19555 p_0 = true;
19556 if (!(dx_hand_model_DW.obj_g1.SampleTime == dx_hand_model_P.update_param)) {
19557 p_0 = false;
19558 }
19559
19560 if (p_0) {
19561 p = true;
19562 }
19563
19564 if (!p) {
19565 dx_hand_model_DW.obj_g1.SampleTime = dx_hand_model_P.update_param;
19566 }
19567
19568 ParamGet_dx_hand_model_2768.get_parameter(&dx_hand_model_B.GetParameter3_o1_lq);
19569
19570 /* End of Start for MATLABSystem: '<S226>/Get Parameter3' */
19571
19572 /* Update for RateTransition: '<S33>/Rate Transition' */
19573 dx_hand_model_DW.RateTransition_Buffer0 = rtb_GetParameter3_kg;
19574
19575 /* Update for RateTransition: '<S39>/Rate Transition' */
19576 dx_hand_model_DW.RateTransition_Buffer0_p =
19577 dx_hand_model_B.GetParameter3_o1_oa;
19578
19579 /* Update for RateTransition: '<S4>/Rate Transition1' */
19580 dx_hand_model_DW.RateTransition1_Buffer0 = dx_hand_model_B.GetParameter1_o1_p;
19581
19582 /* Update for RateTransition: '<S50>/Rate Transition' */
19583 dx_hand_model_DW.RateTransition_Buffer0_j = rtb_GetParameter3_o1_ef;
19584
19585 /* Update for RateTransition: '<S37>/Rate Transition' */
19586 for (i = 0; i < 5; i++) {
19587 dx_hand_model_DW.RateTransition_Buffer0_e[i] =
19588 dx_hand_model_B.ManualSwitch_i[i];
19589 }
19590
19591 /* End of Update for RateTransition: '<S37>/Rate Transition' */
19592
19593 /* Update for RateTransition: '<S69>/Rate Transition' */
19594 dx_hand_model_DW.RateTransition_Buffer0_a = dx_hand_model_B.GetParameter3_d;
19595
19596 /* Update for RateTransition: '<S24>/Rate Transition' */
19597 dx_hand_model_DW.RateTransition_Buffer0_l =
19598 dx_hand_model_B.GetParameter3_o1_kf;
19599
19600 /* Update for RateTransition: '<S76>/Rate Transition' */
19601 dx_hand_model_DW.RateTransition_Buffer0_h = dx_hand_model_B.GetParameter3_nx;
19602
19603 /* Update for RateTransition: '<S70>/Rate Transition' */
19604 dx_hand_model_DW.RateTransition_Buffer0_f = dx_hand_model_B.GetParameter3_pn;
19605
19606 /* Update for RateTransition: '<S77>/Rate Transition' */
19607 dx_hand_model_DW.RateTransition_Buffer0_hi = dx_hand_model_B.GetParameter3_pi;
19608
19609 /* Update for RateTransition: '<S71>/Rate Transition' */
19610 dx_hand_model_DW.RateTransition_Buffer0_eo = dx_hand_model_B.GetParameter3_az;
19611
19612 /* Update for RateTransition: '<S67>/Rate Transition' */
19613 dx_hand_model_DW.RateTransition_Buffer0_k = dx_hand_model_B.GetParameter3_f;
19614
19615 /* Update for RateTransition: '<S72>/Rate Transition' */
19616 dx_hand_model_DW.RateTransition_Buffer0_lg = dx_hand_model_B.GetParameter3_mq;
19617
19618 /* Update for RateTransition: '<S68>/Rate Transition' */
19619 dx_hand_model_DW.RateTransition_Buffer0_d = dx_hand_model_B.GetParameter3_kk;
19620
19621 /* Update for RateTransition: '<S66>/Rate Transition' */
19622 dx_hand_model_DW.RateTransition_Buffer0_fj = rtb_GetParameter3_o1_n3;
19623
19624 /* Update for RateTransition: '<S34>/Rate Transition' */
19625 dx_hand_model_DW.RateTransition_Buffer0_b = rtb_GetParameter3_pz;
19626
19627 /* Update for RateTransition: '<S47>/Rate Transition' */
19628 dx_hand_model_DW.RateTransition_Buffer0_jl = rtb_GetParameter3_o1_nj;
19629
19630 /* Update for RateTransition: '<S46>/Rate Transition' */
19631 dx_hand_model_DW.RateTransition_Buffer0_g = rtb_GetParameter3_o1_f;
19632
19633 /* Update for RateTransition: '<S45>/Rate Transition' */
19634 dx_hand_model_DW.RateTransition_Buffer0_kp = rtb_GetParameter3_o1_ei;
19635
19636 /* Update for RateTransition: '<S41>/Rate Transition' */
19637 dx_hand_model_DW.RateTransition_Buffer0_k1 = dx_hand_model_B.GetParameter3_a3;
19638
19639 /* Update for RateTransition: '<S78>/Rate Transition' */
19640 dx_hand_model_DW.RateTransition_Buffer0_m = dx_hand_model_B.GetParameter3_cc;
19641
19642 /* Update for RateTransition: '<S84>/Rate Transition' */
19643 dx_hand_model_DW.RateTransition_Buffer0_c = dx_hand_model_B.GetParameter3_o1_n;
19644
19645 /* Update for RateTransition: '<S92>/Rate Transition' */
19646 dx_hand_model_DW.RateTransition_Buffer0_mu =
19647 dx_hand_model_B.GetParameter3_o1_kd;
19648
19649 /* Update for RateTransition: '<S81>/Rate Transition' */
19650 for (i = 0; i < 5; i++) {
19651 dx_hand_model_DW.RateTransition_Buffer0_dg[i] =
19652 dx_hand_model_B.ManualSwitch_a[i];
19653 }
19654
19655 /* End of Update for RateTransition: '<S81>/Rate Transition' */
19656
19657 /* Update for RateTransition: '<S119>/Rate Transition' */
19658 dx_hand_model_DW.RateTransition_Buffer0_n = dx_hand_model_B.GetParameter3_mw;
19659
19660 /* Update for RateTransition: '<S87>/Rate Transition' */
19661 dx_hand_model_DW.RateTransition_Buffer0_nl = dx_hand_model_B.GetParameter3_cq;
19662
19663 /* Update for RateTransition: '<S120>/Rate Transition' */
19664 dx_hand_model_DW.RateTransition_Buffer0_az = dx_hand_model_B.GetParameter3_m;
19665
19666 /* Update for RateTransition: '<S88>/Rate Transition' */
19667 dx_hand_model_DW.RateTransition_Buffer0_jv = dx_hand_model_B.GetParameter3_es;
19668
19669 /* Update for RateTransition: '<S121>/Rate Transition' */
19670 dx_hand_model_DW.RateTransition_Buffer0_at = dx_hand_model_B.GetParameter3_bp;
19671
19672 /* Update for RateTransition: '<S117>/Rate Transition' */
19673 dx_hand_model_DW.RateTransition_Buffer0_bq = dx_hand_model_B.GetParameter3_ly;
19674
19675 /* Update for RateTransition: '<S122>/Rate Transition' */
19676 dx_hand_model_DW.RateTransition_Buffer0_i = dx_hand_model_B.GetParameter3_le;
19677
19678 /* Update for RateTransition: '<S118>/Rate Transition' */
19679 dx_hand_model_DW.RateTransition_Buffer0_no = dx_hand_model_B.GetParameter3_ey;
19680
19681 /* Update for RateTransition: '<S116>/Rate Transition' */
19682 dx_hand_model_DW.RateTransition_Buffer0_lh =
19683 dx_hand_model_B.GetParameter3_o1_du;
19684
19685 /* Update for RateTransition: '<S79>/Rate Transition' */
19686 dx_hand_model_DW.RateTransition_Buffer0_ex = dx_hand_model_B.GetParameter3_mf;
19687
19688 /* Update for RateTransition: '<S109>/Rate Transition' */
19689 dx_hand_model_DW.RateTransition_Buffer0_bv =
19690 dx_hand_model_B.GetParameter3_o1_eh;
19691
19692 /* Update for RateTransition: '<S108>/Rate Transition' */
19693 dx_hand_model_DW.RateTransition_Buffer0_co =
19694 dx_hand_model_B.GetParameter3_o1_pm;
19695
19696 /* Update for RateTransition: '<S107>/Rate Transition' */
19697 dx_hand_model_DW.RateTransition_Buffer0_py =
19698 dx_hand_model_B.GetParameter3_o1_hh;
19699
19700 /* Update for RateTransition: '<S89>/Rate Transition' */
19701 dx_hand_model_DW.RateTransition_Buffer0_gb = dx_hand_model_B.GetParameter3_n4e;
19702
19703 /* Update for RateTransition: '<S124>/Rate Transition' */
19704 dx_hand_model_DW.RateTransition_Buffer0_iv = dx_hand_model_B.GetParameter3_p5;
19705
19706 /* Update for RateTransition: '<S131>/Rate Transition' */
19707 dx_hand_model_DW.RateTransition_Buffer0_be =
19708 dx_hand_model_B.GetParameter3_o1_jy;
19709
19710 /* Update for RateTransition: '<S139>/Rate Transition' */
19711 dx_hand_model_DW.RateTransition_Buffer0_bz =
19712 dx_hand_model_B.GetParameter3_o1_cl;
19713
19714 /* Update for RateTransition: '<S128>/Rate Transition' */
19715 for (i = 0; i < 5; i++) {
19716 dx_hand_model_DW.RateTransition_Buffer0_k3[i] =
19717 dx_hand_model_B.ManualSwitch_c[i];
19718 }
19719
19720 /* End of Update for RateTransition: '<S128>/Rate Transition' */
19721
19722 /* Update for RateTransition: '<S164>/Rate Transition' */
19723 dx_hand_model_DW.RateTransition_Buffer0_gk = dx_hand_model_B.GetParameter3_pl;
19724
19725 /* Update for RateTransition: '<S134>/Rate Transition' */
19726 dx_hand_model_DW.RateTransition_Buffer0_o = dx_hand_model_B.GetParameter3_kq;
19727
19728 /* Update for RateTransition: '<S165>/Rate Transition' */
19729 dx_hand_model_DW.RateTransition_Buffer0_ml = dx_hand_model_B.GetParameter3_b;
19730
19731 /* Update for RateTransition: '<S135>/Rate Transition' */
19732 dx_hand_model_DW.RateTransition_Buffer0_hy = dx_hand_model_B.GetParameter3_l;
19733
19734 /* Update for RateTransition: '<S166>/Rate Transition' */
19735 dx_hand_model_DW.RateTransition_Buffer0_bh = dx_hand_model_B.GetParameter3_ax;
19736
19737 /* Update for RateTransition: '<S162>/Rate Transition' */
19738 dx_hand_model_DW.RateTransition_Buffer0_kj = dx_hand_model_B.GetParameter3_pe;
19739
19740 /* Update for RateTransition: '<S167>/Rate Transition' */
19741 dx_hand_model_DW.RateTransition_Buffer0_bl = dx_hand_model_B.GetParameter3_nf;
19742
19743 /* Update for RateTransition: '<S163>/Rate Transition' */
19744 dx_hand_model_DW.RateTransition_Buffer0_hj = dx_hand_model_B.GetParameter3_bz;
19745
19746 /* Update for RateTransition: '<S161>/Rate Transition' */
19747 dx_hand_model_DW.RateTransition_Buffer0_pe =
19748 dx_hand_model_B.GetParameter3_o1_m;
19749
19750 /* Update for RateTransition: '<S126>/Rate Transition' */
19751 dx_hand_model_DW.RateTransition_Buffer0_li = dx_hand_model_B.GetParameter3_b5;
19752
19753 /* Update for RateTransition: '<S154>/Rate Transition' */
19754 dx_hand_model_DW.RateTransition_Buffer0_e0 =
19755 dx_hand_model_B.GetParameter3_o1_af;
19756
19757 /* Update for RateTransition: '<S153>/Rate Transition' */
19758 dx_hand_model_DW.RateTransition_Buffer0_h3 =
19759 dx_hand_model_B.GetParameter3_o1_pq;
19760
19761 /* Update for RateTransition: '<S152>/Rate Transition' */
19762 dx_hand_model_DW.RateTransition_Buffer0_kr =
19763 dx_hand_model_B.GetParameter3_o1_e3;
19764
19765 /* Update for RateTransition: '<S136>/Rate Transition' */
19766 dx_hand_model_DW.RateTransition_Buffer0_mx = dx_hand_model_B.GetParameter3_n4;
19767
19768 /* Update for RateTransition: '<S125>/Rate Transition' */
19769 dx_hand_model_DW.RateTransition_Buffer0_eg = dx_hand_model_B.GetParameter3_lo;
19770
19771 /* Update for RateTransition: '<S169>/Rate Transition' */
19772 dx_hand_model_DW.RateTransition_Buffer0_nv = dx_hand_model_B.GetParameter3_c;
19773
19774 /* Update for RateTransition: '<S176>/Rate Transition' */
19775 dx_hand_model_DW.RateTransition_Buffer0_ad =
19776 dx_hand_model_B.GetParameter3_o1_o;
19777
19778 /* Update for RateTransition: '<S184>/Rate Transition' */
19779 dx_hand_model_DW.RateTransition_Buffer0_or =
19780 dx_hand_model_B.GetParameter3_o1_d;
19781
19782 /* Update for RateTransition: '<S173>/Rate Transition' */
19783 for (i = 0; i < 5; i++) {
19784 dx_hand_model_DW.RateTransition_Buffer0_pk[i] =
19785 dx_hand_model_B.ManualSwitch_l[i];
19786 }
19787
19788 /* End of Update for RateTransition: '<S173>/Rate Transition' */
19789
19790 /* Update for RateTransition: '<S209>/Rate Transition' */
19791 dx_hand_model_DW.RateTransition_Buffer0_jt = dx_hand_model_B.GetParameter3_a;
19792
19793 /* Update for RateTransition: '<S179>/Rate Transition' */
19794 dx_hand_model_DW.RateTransition_Buffer0_oq = dx_hand_model_B.GetParameter3_i;
19795
19796 /* Update for RateTransition: '<S210>/Rate Transition' */
19797 dx_hand_model_DW.RateTransition_Buffer0_im = dx_hand_model_B.GetParameter3_j1;
19798
19799 /* Update for RateTransition: '<S180>/Rate Transition' */
19800 dx_hand_model_DW.RateTransition_Buffer0_ea = dx_hand_model_B.GetParameter3_o;
19801
19802 /* Update for RateTransition: '<S211>/Rate Transition' */
19803 dx_hand_model_DW.RateTransition_Buffer0_kpx = dx_hand_model_B.GetParameter3_e;
19804
19805 /* Update for RateTransition: '<S207>/Rate Transition' */
19806 dx_hand_model_DW.RateTransition_Buffer0_pu = dx_hand_model_B.GetParameter3_k;
19807
19808 /* Update for RateTransition: '<S212>/Rate Transition' */
19809 dx_hand_model_DW.RateTransition_Buffer0_fb = dx_hand_model_B.GetParameter3_j;
19810
19811 /* Update for RateTransition: '<S208>/Rate Transition' */
19812 dx_hand_model_DW.RateTransition_Buffer0_ox = dx_hand_model_B.GetParameter3_p;
19813
19814 /* Update for RateTransition: '<S206>/Rate Transition' */
19815 dx_hand_model_DW.RateTransition_Buffer0_d5 =
19816 dx_hand_model_B.GetParameter3_o1_kn;
19817
19818 /* Update for RateTransition: '<S171>/Rate Transition' */
19819 dx_hand_model_DW.RateTransition_Buffer0_ns = dx_hand_model_B.GetParameter3_ku;
19820
19821 /* Update for RateTransition: '<S199>/Rate Transition' */
19822 dx_hand_model_DW.RateTransition_Buffer0_ap =
19823 dx_hand_model_B.GetParameter3_o1_el;
19824
19825 /* Update for RateTransition: '<S198>/Rate Transition' */
19826 dx_hand_model_DW.RateTransition_Buffer0_jz =
19827 dx_hand_model_B.GetParameter3_o1_ix;
19828
19829 /* Update for RateTransition: '<S197>/Rate Transition' */
19830 dx_hand_model_DW.RateTransition_Buffer0_lf =
19831 dx_hand_model_B.GetParameter3_o1_o1;
19832
19833 /* Update for RateTransition: '<S181>/Rate Transition' */
19834 dx_hand_model_DW.RateTransition_Buffer0_eb = dx_hand_model_B.GetParameter3_n;
19835
19836 /* Update for RateTransition: '<S170>/Rate Transition' */
19837 dx_hand_model_DW.RateTransition_Buffer0_m1 = dx_hand_model_B.GetParameter3_k5;
19838
19839 /* Update for RateTransition: '<S279>/Rate Transition' */
19840 dx_hand_model_DW.RateTransition_Buffer0_ly =
19841 dx_hand_model_B.GetParameter3_o1_e;
19842
19843 /* Update for RateTransition: '<S280>/Rate Transition' */
19844 dx_hand_model_DW.RateTransition_Buffer0_n4 = dx_hand_model_B.GetParameter2_o1;
19845
19846 /* Update for RateTransition: '<S281>/Rate Transition' */
19847 dx_hand_model_DW.RateTransition_Buffer0_gs = dx_hand_model_B.GetParameter_o1;
19848
19849 /* Update for RateTransition: '<S268>/Rate Transition' */
19850 dx_hand_model_DW.RateTransition_Buffer0_kx =
19851 dx_hand_model_B.GetParameter3_o1_i;
19852
19853 /* Update for RateTransition: '<S269>/Rate Transition' */
19854 dx_hand_model_DW.RateTransition_Buffer0_dh =
19855 dx_hand_model_B.GetParameter3_o1_l3;
19856
19857 /* Update for RateTransition: '<S270>/Rate Transition' */
19858 dx_hand_model_DW.RateTransition_Buffer0_pl =
19859 dx_hand_model_B.GetParameter3_o1_ag;
19860
19861 /* Update for RateTransition: '<S271>/Rate Transition' */
19862 dx_hand_model_DW.RateTransition_Buffer0_ck =
19863 dx_hand_model_B.GetParameter3_o1_l;
19864
19865 /* Update for RateTransition: '<S272>/Rate Transition' */
19866 dx_hand_model_DW.RateTransition_Buffer0_aw =
19867 dx_hand_model_B.GetParameter3_o1_a;
19868
19869 /* Update for RateTransition: '<S282>/Rate Transition' */
19870 dx_hand_model_DW.RateTransition_Buffer0_l4 = dx_hand_model_B.GetParameter1_o1;
19871
19872 /* Update for RateTransition: '<S283>/Rate Transition' */
19873 dx_hand_model_DW.RateTransition_Buffer0_eq = dx_hand_model_B.GetParameter4_o1;
19874
19875 /* Update for RateTransition: '<S285>/Rate Transition' */
19876 dx_hand_model_DW.RateTransition_Buffer0_dhx = dx_hand_model_B.GetParameter6_o1;
19877
19878 /* Update for RateTransition: '<S284>/Rate Transition' */
19879 dx_hand_model_DW.RateTransition_Buffer0_of = dx_hand_model_B.GetParameter5_o1;
19880
19881 /* Update for RateTransition: '<S314>/Rate Transition' */
19882 dx_hand_model_DW.RateTransition_Buffer0_la =
19883 dx_hand_model_B.GetParameter3_o1_p;
19884
19885 /* Update for RateTransition: '<S266>/Rate Transition' */
19886 dx_hand_model_DW.RateTransition_Buffer0_pq = dx_hand_model_B.GetParameter3;
19887
19888 /* Update for RateTransition: '<S267>/Rate Transition' */
19889 dx_hand_model_DW.RateTransition_Buffer0_ky =
19890 dx_hand_model_B.GetParameter3_o1_j;
19891
19892 /* Update for RateTransition: '<S10>/Rate Transition' */
19893 dx_hand_model_DW.RateTransition_Buffer0_ma =
19894 dx_hand_model_B.GetParameter3_o1_h;
19895
19896 /* Update for RateTransition: '<S10>/Rate Transition1' */
19897 dx_hand_model_DW.RateTransition1_Buffer0_g =
19898 dx_hand_model_B.GetParameter1_o1_e;
19899
19900 /* Update for RateTransition: '<S221>/Rate Transition' */
19901 dx_hand_model_DW.RateTransition_Buffer0_m3 =
19902 dx_hand_model_B.GetParameter3_o1_g;
19903
19904 /* Update for RateTransition: '<S222>/Rate Transition' */
19905 dx_hand_model_DW.RateTransition_Buffer0_ax =
19906 dx_hand_model_B.GetParameter3_o1_pn;
19907
19908 /* Update for RateTransition: '<S223>/Rate Transition' */
19909 dx_hand_model_DW.RateTransition_Buffer0_pa =
19910 dx_hand_model_B.GetParameter3_o1_k;
19911
19912 /* Update for RateTransition: '<S224>/Rate Transition' */
19913 dx_hand_model_DW.RateTransition_Buffer0_kc =
19914 dx_hand_model_B.GetParameter3_o1_c;
19915
19916 /* Update for RateTransition: '<S225>/Rate Transition' */
19917 dx_hand_model_DW.RateTransition_Buffer0_c2 =
19918 dx_hand_model_B.GetParameter3_o1_ec;
19919
19920 /* Update for RateTransition: '<S226>/Rate Transition' */
19921 dx_hand_model_DW.RateTransition_Buffer0_o0 =
19922 dx_hand_model_B.GetParameter3_o1_lq;
19923
19924 /* If subsystem generates rate grouping Output functions,
19925 * when tid is used in Output function for one rate,
19926 * all Output functions include tid as a local variable.
19927 * As result, some Output functions may have unused tid.
19928 */
19929 UNUSED_PARAMETER(tid);
19930}
19931
19932/* Model step wrapper function for compatibility with a static main program */
19933void dx_hand_model_step(int_T tid)
19934{
19935 switch (tid) {
19936 case 0 :
19937 dx_hand_model_step0();
19938 break;
19939
19940 case 1 :
19941 dx_hand_model_step1();
19942 break;
19943
19944 default :
19945 break;
19946 }
19947}
19948
19949/* Model initialize function */
19950void dx_hand_model_initialize(void)
19951{
19952 /* Registration code */
19953
19954 /* initialize non-finites */
19955 rt_InitInfAndNaN(sizeof(real_T));
19956
19957 /* initialize real-time model */
19958 (void) memset((void *)dx_hand_model_M, 0,
19959 sizeof(RT_MODEL_dx_hand_model_T));
19960
19961 /* block I/O */
19962 (void) memset(((void *) &dx_hand_model_B), 0,
19963 sizeof(B_dx_hand_model_T));
19964
19965 /* states (dwork) */
19966 (void) memset((void *)&dx_hand_model_DW, 0,
19967 sizeof(DW_dx_hand_model_T));
19968
19969 {
19970 char_T *sErr;
19971 int32_T i;
19972 static const char_T tmp[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x', 'o',
19973 '/', 's', 'p', 'r', 'e', 'a', 'd', '/', 'e', 'n', 'a', 'b', 'l', 'e' };
19974
19975 static const char_T tmp_0[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19976 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'e', 'n', 'a', 'b', 'l', 'e' };
19977
19978 static const char_T tmp_1[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19979 'o', '/', 'r', 'i', 'n', 'g', '/', 'e', 'n', 'a', 'b', 'l', 'e' };
19980
19981 static const char_T tmp_2[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19982 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'e', 'n', 'a', 'b', 'l', 'e'
19983 };
19984
19985 static const char_T tmp_3[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19986 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'e', 'n', 'a', 'b', 'l', 'e' };
19987
19988 static const char_T tmp_4[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19989 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'e', 'n', 'a', 'b', 'l', 'e' };
19990
19991 static const char_T tmp_5[31] = { '/', 's', 'v', 'h', '_', 'c', 'o', 'n',
19992 't', 'r', 'o', 'l', 'l', 'e', 'r', '/', 'c', 'h', 'a', 'n', 'n', 'e', 'l',
19993 '_', 't', 'a', 'r', 'g', 'e', 't', 's' };
19994
19995 static const char_T tmp_6[14] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19996 'o', '/', 'm', 'o', 'd', 'e' };
19997
19998 static const char_T tmp_7[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
19999 'o', '/', 'd', 'e', 'l', 'a', 'y', '_', 'b', 'a', 'c', 'k' };
20000
20001 static const char_T tmp_8[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20002 'o', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n', '/', 'f', 'i', 'l', 't'
20003 };
20004
20005 static const char_T tmp_9[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20006 'o', '/', 'd', 'e', 'l', 'a', 'y', '_', 'f', 'o', 'r', 'w', 'a', 'r', 'd'
20007 };
20008
20009 static const char_T tmp_a[15] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20010 'o', '/', 'd', 'e', 'b', 'u', 'g' };
20011
20012 static const char_T tmp_b[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20013 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'l', '_', 'd', 'i', 's', 't' };
20014
20015 static const char_T tmp_c[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20016 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 's', '2' };
20017
20018 static const char_T tmp_d[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20019 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'l', '_', 'm', 'e', 't', 'a' };
20020
20021 static const char_T tmp_e[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20022 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 's', '1' };
20023
20024 static const char_T tmp_f[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20025 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'C', 'M', 'C', 'x' };
20026
20027 static const char_T tmp_g[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20028 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'C', 'M', 'C', 'y' };
20029
20030 static const char_T tmp_h[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20031 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'C', 'M', 'C', 'z' };
20032
20033 static const char_T tmp_i[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20034 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20035 't', 'i', 'o', 'n', '/', 's', 'e', 't', '5' };
20036
20037 static const char_T tmp_j[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20038 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20039 't', 'i', 'o', 'n', '/', 'g', 'e', 't', '5' };
20040
20041 static const char_T tmp_k[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20042 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20043 't', 'i', 'o', 'n', '/', 's', 'e', 't', '4' };
20044
20045 static const char_T tmp_l[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20046 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20047 't', 'i', 'o', 'n', '/', 'g', 'e', 't', '4' };
20048
20049 static const char_T tmp_m[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20050 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20051 't', 'i', 'o', 'n', '/', 's', 'e', 't', '3' };
20052
20053 static const char_T tmp_n[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20054 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20055 't', 'i', 'o', 'n', '/', 'g', 'e', 't', '3' };
20056
20057 static const char_T tmp_o[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20058 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20059 't', 'i', 'o', 'n', '/', 's', 'e', 't', '2' };
20060
20061 static const char_T tmp_p[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20062 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20063 't', 'i', 'o', 'n', '/', 'g', 'e', 't', '2' };
20064
20065 static const char_T tmp_q[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20066 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20067 't', 'i', 'o', 'n', '/', 's', 'e', 't', '1' };
20068
20069 static const char_T tmp_r[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20070 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20071 't', 'i', 'o', 'n', '/', 'g', 'e', 't', '1' };
20072
20073 static const char_T tmp_s[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20074 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'g', 'a', 'i', 'n', '/', 'g', '1'
20075 };
20076
20077 static const char_T tmp_t[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20078 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'm', 'o', 'd', 'e', 's', '/', 'f',
20079 'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };
20080
20081 static const char_T tmp_u[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20082 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'o', 'f', 'f', 's', 'e', 't', '/',
20083 'f', 'l', 'e', 'x' };
20084
20085 static const char_T tmp_v[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20086 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'o', 'f', 'f', 's', 'e', 't', '/',
20087 'o', 'p', 'p' };
20088
20089 static const char_T tmp_w[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20090 'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'o', 'f', 'f', 's', 'e', 't', '/',
20091 'g', 'e', 't', '_', 'o', 'p', 'p' };
20092
20093 static const char_T tmp_x[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20094 'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 's', 'a',
20095 't', 'u', 'r', 'a', 't', 'o', 'r' };
20096
20097 static const char_T tmp_y[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20098 'o', '/', 'r', 'i', 'n', 'g', '/', 's', 'c', 'h', 'u', 'n', 'k', '_', 'g',
20099 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };
20100
20101 static const char_T tmp_z[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20102 'o', '/', 'r', 'i', 'n', 'g', '/', 's', 'c', 'h', 'u', 'n', 'k', '_', 'g',
20103 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };
20104
20105 static const char_T tmp_10[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20106 'o', '/', 'r', 'i', 'n', 'g', '/', 'j', '_', 'f' };
20107
20108 static const char_T tmp_11[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20109 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20110 '/', 'k', 'd', '_', 'd' };
20111
20112 static const char_T tmp_12[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20113 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20114 '/', 'k', 'd', '_', 'p' };
20115
20116 static const char_T tmp_13[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20117 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20118 '/', 'k', 'p', '_', 'd' };
20119
20120 static const char_T tmp_14[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20121 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20122 '/', 'k', 'p', '_', 'p' };
20123
20124 static const char_T tmp_15[34] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20125 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20126 '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };
20127
20128 static const char_T tmp_16[35] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20129 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20130 '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };
20131
20132 static const char_T tmp_17[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20133 'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',
20134 '/', 'o', 'p', 't', 'i', 'm' };
20135
20136 static const char_T tmp_18[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20137 'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 'j', 'a',
20138 'c', 'o', 'b', 'i', 'a', 'n' };
20139
20140 static const char_T tmp_19[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20141 'o', '/', 'r', 'i', 'n', 'g', '/', 'f', '_', 'g', 'a', 'i', 'n', 's', '/',
20142 'p', 'r', 'o', 'x' };
20143
20144 static const char_T tmp_1a[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20145 'o', '/', 'r', 'i', 'n', 'g', '/', 'f', '_', 'g', 'a', 'i', 'n', 's', '/',
20146 'd', 'i', 's', 't' };
20147
20148 static const char_T tmp_1b[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20149 'o', '/', 'r', 'i', 'n', 'g', '/', 'o', 'f', 'f', 'a' };
20150
20151 static const char_T tmp_1c[16] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20152 'o', '/', 'r', 'i', 'n', 'g', '/', 's' };
20153
20154 static const char_T tmp_1d[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20155 'o', '/', 'r', 'i', 'n', 'g', '/', 'l', 'e', 'n', 'g', 't', 'h' };
20156
20157 static const char_T tmp_1e[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20158 'o', '/', 'r', 'i', 'n', 'g', '/', 'o', 'f', 'f', 'y' };
20159
20160 static const char_T tmp_1f[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20161 'o', '/', 'r', 'i', 'n', 'g', '/', 'o', 'f', 'f', 'x' };
20162
20163 static const char_T tmp_1g[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20164 'o', '/', 'r', 'i', 'n', 'g', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a', 't',
20165 'i', 'o', 'n', '/', 's', 'e', 't' };
20166
20167 static const char_T tmp_1h[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20168 'o', '/', 'r', 'i', 'n', 'g', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a', 't',
20169 'i', 'o', 'n', '/', 'g', 'e', 't' };
20170
20171 static const char_T tmp_1i[25] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20172 'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 't', 'y',
20173 'p', 'e' };
20174
20175 static const char_T tmp_1j[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20176 'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 't', 'h',
20177 'e', 'o', 'r' };
20178
20179 static const char_T tmp_1k[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20180 'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 'f', 'f',
20181 '_', 'a', 'c', 't', 'i', 'v', 'e' };
20182
20183 static const char_T tmp_1l[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20184 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 's',
20185 'a', 't', 'u', 'r', 'a', 't', 'o', 'r' };
20186
20187 static const char_T tmp_1m[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20188 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',
20189 'g', 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };
20190
20191 static const char_T tmp_1n[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20192 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',
20193 'g', 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };
20194
20195 static const char_T tmp_1o[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20196 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'j', '_', 'f' };
20197
20198 static const char_T tmp_1p[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20199 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20200 'n', '/', 'k', 'd', '_', 'd' };
20201
20202 static const char_T tmp_1q[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20203 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20204 'n', '/', 'k', 'd', '_', 'p' };
20205
20206 static const char_T tmp_1r[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20207 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20208 'n', '/', 'k', 'p', '_', 'd' };
20209
20210 static const char_T tmp_1s[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20211 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20212 'n', '/', 'k', 'p', '_', 'p' };
20213
20214 static const char_T tmp_1t[35] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20215 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20216 'n', '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };
20217
20218 static const char_T tmp_1u[36] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20219 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20220 'n', '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };
20221
20222 static const char_T tmp_1v[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20223 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20224 'n', '/', 'o', 'p', 't', 'i', 'm' };
20225
20226 static const char_T tmp_1w[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20227 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 'j',
20228 'a', 'c', 'o', 'b', 'i', 'a', 'n' };
20229
20230 static const char_T tmp_1x[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20231 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',
20232 '/', 'p', 'r', 'o', 'x' };
20233
20234 static const char_T tmp_1y[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20235 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',
20236 '/', 'd', 'i', 's', 't' };
20237
20238 static const char_T tmp_1z[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20239 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'o', 'f', 'f', 'a' };
20240
20241 static const char_T tmp_20[17] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20242 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 's' };
20243
20244 static const char_T tmp_21[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20245 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'l', 'e', 'n', 'g', 't', 'h' };
20246
20247 static const char_T tmp_22[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20248 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'o', 'f', 'f', 'y' };
20249
20250 static const char_T tmp_23[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20251 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'o', 'f', 'f', 'x' };
20252
20253 static const char_T tmp_24[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20254 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20255 't', 'i', 'o', 'n', '/', 's', 'e', 't' };
20256
20257 static const char_T tmp_25[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20258 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20259 't', 'i', 'o', 'n', '/', 'g', 'e', 't' };
20260
20261 static const char_T tmp_26[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20262 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 't',
20263 'y', 'p', 'e' };
20264
20265 static const char_T tmp_27[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20266 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 't',
20267 'h', 'e', 'o', 'r' };
20268
20269 static const char_T tmp_28[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20270 'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 'f',
20271 'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };
20272
20273 static const char_T tmp_29[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20274 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',
20275 's', 'a', 't', 'u', 'r', 'a', 't', 'o', 'r' };
20276
20277 static const char_T tmp_2a[34] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20278 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 's', 'c', 'h', 'u', 'n', 'k',
20279 '_', 'g', 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };
20280
20281 static const char_T tmp_2b[34] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20282 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 's', 'c', 'h', 'u', 'n', 'k',
20283 '_', 'g', 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };
20284
20285 static const char_T tmp_2c[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20286 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'j', '_', 'f' };
20287
20288 static const char_T tmp_2d[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20289 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20290 'o', 'n', '/', 'k', 'd', '_', 'd' };
20291
20292 static const char_T tmp_2e[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20293 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20294 'o', 'n', '/', 'k', 'd', '_', 'p' };
20295
20296 static const char_T tmp_2f[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20297 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20298 'o', 'n', '/', 'k', 'p', '_', 'd' };
20299
20300 static const char_T tmp_2g[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20301 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20302 'o', 'n', '/', 'k', 'p', '_', 'p' };
20303
20304 static const char_T tmp_2h[36] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20305 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20306 'o', 'n', '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };
20307
20308 static const char_T tmp_2i[37] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20309 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20310 'o', 'n', '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };
20311
20312 static const char_T tmp_2j[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20313 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',
20314 'o', 'n', '/', 'o', 'p', 't', 'i', 'm' };
20315
20316 static const char_T tmp_2k[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20317 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',
20318 'j', 'a', 'c', 'o', 'b', 'i', 'a', 'n' };
20319
20320 static const char_T tmp_2l[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20321 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'f', '_', 'g', 'a', 'i', 'n',
20322 's', '/', 'p', 'r', 'o', 'x' };
20323
20324 static const char_T tmp_2m[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20325 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'f', '_', 'g', 'a', 'i', 'n',
20326 's', '/', 'd', 'i', 's', 't' };
20327
20328 static const char_T tmp_2n[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20329 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'o', 'f', 'f', 'a' };
20330
20331 static const char_T tmp_2o[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20332 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 's' };
20333
20334 static const char_T tmp_2p[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20335 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'l', 'e', 'n', 'g', 't', 'h'
20336 };
20337
20338 static const char_T tmp_2q[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20339 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'o', 'f', 'f', 'y' };
20340
20341 static const char_T tmp_2r[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20342 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'o', 'f', 'f', 'x' };
20343
20344 static const char_T tmp_2s[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20345 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'c', 'a', 'l', 'i', 'b', 'r',
20346 'a', 't', 'i', 'o', 'n', '/', 's', 'e', 't' };
20347
20348 static const char_T tmp_2t[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20349 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'c', 'a', 'l', 'i', 'b', 'r',
20350 'a', 't', 'i', 'o', 'n', '/', 'g', 'e', 't' };
20351
20352 static const char_T tmp_2u[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20353 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',
20354 't', 'y', 'p', 'e' };
20355
20356 static const char_T tmp_2v[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20357 'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',
20358 'f', 'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };
20359
20360 static const char_T tmp_2w[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20361 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 's',
20362 'a', 't', 'u', 'r', 'a', 't', 'o', 'r' };
20363
20364 static const char_T tmp_2x[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20365 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',
20366 'g', 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };
20367
20368 static const char_T tmp_2y[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20369 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',
20370 'g', 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };
20371
20372 static const char_T tmp_2z[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20373 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'j', '_', 'f' };
20374
20375 static const char_T tmp_30[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20376 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20377 'n', '/', 'k', 'd', '_', 'd' };
20378
20379 static const char_T tmp_31[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20380 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20381 'n', '/', 'k', 'd', '_', 'p' };
20382
20383 static const char_T tmp_32[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20384 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20385 'n', '/', 'k', 'p', '_', 'd' };
20386
20387 static const char_T tmp_33[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20388 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20389 'n', '/', 'k', 'p', '_', 'p' };
20390
20391 static const char_T tmp_34[35] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20392 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20393 'n', '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };
20394
20395 static const char_T tmp_35[36] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20396 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20397 'n', '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };
20398
20399 static const char_T tmp_36[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20400 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',
20401 'n', '/', 'o', 'p', 't', 'i', 'm' };
20402
20403 static const char_T tmp_37[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20404 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'o', 'f', 'f', 'a' };
20405
20406 static const char_T tmp_38[17] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20407 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 's' };
20408
20409 static const char_T tmp_39[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20410 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'l', 'e', 'n', 'g', 't', 'h' };
20411
20412 static const char_T tmp_3a[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20413 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'o', 'f', 'f', 'y' };
20414
20415 static const char_T tmp_3b[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20416 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'o', 'f', 'f', 'x' };
20417
20418 static const char_T tmp_3c[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20419 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20420 't', 'i', 'o', 'n', '/', 's', 'e', 't' };
20421
20422 static const char_T tmp_3d[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20423 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',
20424 't', 'i', 'o', 'n', '/', 'g', 'e', 't' };
20425
20426 static const char_T tmp_3e[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20427 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 'j',
20428 'a', 'c', 'o', 'b', 'i', 'a', 'n' };
20429
20430 static const char_T tmp_3f[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20431 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',
20432 '/', 'p', 'r', 'o', 'x' };
20433
20434 static const char_T tmp_3g[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20435 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',
20436 '/', 'd', 'i', 's', 't' };
20437
20438 static const char_T tmp_3h[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20439 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 't',
20440 'y', 'p', 'e' };
20441
20442 static const char_T tmp_3i[32] = { '/', 's', 'v', 'h', '_', 'c', 'o', 'n',
20443 't', 'r', 'o', 'l', 'l', 'e', 'r', '/', 'c', 'h', 'a', 'n', 'n', 'e', 'l',
20444 '_', 'c', 'u', 'r', 'r', 'e', 'n', 't', 's' };
20445
20446 static const char_T tmp_3j[32] = { '/', 's', 'v', 'h', '_', 'c', 'o', 'n',
20447 't', 'r', 'o', 'l', 'l', 'e', 'r', '/', 'c', 'h', 'a', 'n', 'n', 'e', 'l',
20448 '_', 'f', 'e', 'e', 'd', 'b', 'a', 'c', 'k' };
20449
20450 static const char_T tmp_3k[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',
20451 'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 'f',
20452 'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };
20453
20454 char_T tmp_3l[15];
20455 char_T tmp_3m[16];
20456
20457 /* Start for RateTransition: '<S33>/Rate Transition' */
20458 dx_hand_model_B.RateTransition =
20459 dx_hand_model_P.RateTransition_InitialCondition;
20460
20461 /* Start for MATLABSystem: '<S33>/Get Parameter3' */
20462 dx_hand_model_DW.obj_e2.isInitialized = 0;
20463 dx_hand_model_DW.objisempty_lxe = true;
20464 dx_hand_model_DW.obj_e2.SampleTime = dx_hand_model_P.update_param;
20465 dx_hand_model_DW.obj_e2.isInitialized = 1;
20466 for (i = 0; i < 31; i++) {
20467 dx_hand_model_B.cv6[i] = tmp_3k[i];
20468 }
20469
20470 dx_hand_model_B.cv6[31] = '\x00';
20471 ParamGet_dx_hand_model_4854.initialize(dx_hand_model_B.cv6);
20472 ParamGet_dx_hand_model_4854.initialize_error_codes(0U, 1U, 2U, 3U);
20473 ParamGet_dx_hand_model_4854.set_initial_value
20474 (dx_hand_ParameterInitialValue_k);
20475
20476 /* End of Start for MATLABSystem: '<S33>/Get Parameter3' */
20477
20478 /* Start for RateTransition: '<S39>/Rate Transition' */
20479 dx_hand_model_B.RateTransition_g =
20480 dx_hand_model_P.RateTransition_InitialConditi_m;
20481
20482 /* Start for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */
20483 sErr = GetErrorBuffer(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
20484 CreateUDPInterface(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
20485 if (*sErr == 0) {
20486 LibCreate_Network(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U], 0,
20487 "0.0.0.0", dx_hand_model_P.ReceivefromHaptics_localPort,
20488 "0.0.0.0", -1, 108, 1, MIN_int32_T);
20489 }
20490
20491 if (*sErr == 0) {
20492 LibStart(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
20493 }
20494
20495 if (*sErr != 0) {
20496 DestroyUDPInterface(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
20497 if (*sErr != 0) {
20498 rtmSetErrorStatus(dx_hand_model_M, sErr);
20499 rtmSetStopRequested(dx_hand_model_M, 1);
20500 }
20501 }
20502
20503 /* End of Start for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */
20504
20505 /* Start for RateTransition: '<S4>/Rate Transition1' */
20506 dx_hand_model_B.RateTransition1 =
20507 dx_hand_model_P.RateTransition1_InitialConditio;
20508
20509 /* Start for RateTransition: '<S50>/Rate Transition' */
20510 dx_hand_model_B.RateTransition_f =
20511 dx_hand_model_P.RateTransition_InitialConditi_e;
20512
20513 /* Start for RateTransition: '<S37>/Rate Transition' */
20514 for (i = 0; i < 5; i++) {
20515 dx_hand_model_B.RateTransition_a[i] =
20516 dx_hand_model_P.RateTransition_InitialCondit_e5;
20517 }
20518
20519 /* End of Start for RateTransition: '<S37>/Rate Transition' */
20520
20521 /* Start for RateTransition: '<S69>/Rate Transition' */
20522 dx_hand_model_B.RateTransition_l =
20523 dx_hand_model_P.RateTransition_InitialConditi_l;
20524
20525 /* Start for RateTransition: '<S24>/Rate Transition' */
20526 dx_hand_model_B.RateTransition_gt =
20527 dx_hand_model_P.RateTransition_InitialConditi_i;
20528
20529 /* Start for Atomic SubSystem: '<S20>/Subscribe1' */
20530 /* Start for MATLABSystem: '<S25>/SourceBlock' */
20531 dx_hand_model_DW.obj_ig.isInitialized = 0;
20532 dx_hand_model_DW.objisempty_dg = true;
20533 dx_hand_model_DW.obj_ig.isInitialized = 1;
20534 for (i = 0; i < 32; i++) {
20535 dx_hand_model_B.cv5[i] = tmp_3j[i];
20536 }
20537
20538 dx_hand_model_B.cv5[32] = '\x00';
20539 Sub_dx_hand_model_2652.createSubscriber(dx_hand_model_B.cv5,
20540 dx_hand_model_MessageQueueLen);
20541
20542 /* End of Start for MATLABSystem: '<S25>/SourceBlock' */
20543 /* End of Start for SubSystem: '<S20>/Subscribe1' */
20544
20545 /* Start for RateTransition: '<S76>/Rate Transition' */
20546 dx_hand_model_B.RateTransition_j =
20547 dx_hand_model_P.RateTransition_InitialCondit_l4;
20548
20549 /* Start for RateTransition: '<S70>/Rate Transition' */
20550 dx_hand_model_B.RateTransition_ah =
20551 dx_hand_model_P.RateTransition_InitialConditi_g;
20552
20553 /* Start for RateTransition: '<S77>/Rate Transition' */
20554 dx_hand_model_B.RateTransition_lm =
20555 dx_hand_model_P.RateTransition_InitialConditi_f;
20556
20557 /* Start for RateTransition: '<S71>/Rate Transition' */
20558 dx_hand_model_B.RateTransition_k =
20559 dx_hand_model_P.RateTransition_InitialConditi_b;
20560
20561 /* Start for RateTransition: '<S67>/Rate Transition' */
20562 dx_hand_model_B.RateTransition_n =
20563 dx_hand_model_P.RateTransition_InitialConditi_d;
20564
20565 /* Start for RateTransition: '<S72>/Rate Transition' */
20566 dx_hand_model_B.RateTransition_o =
20567 dx_hand_model_P.RateTransition_InitialCondit_df;
20568
20569 /* Start for RateTransition: '<S68>/Rate Transition' */
20570 dx_hand_model_B.RateTransition_k1 =
20571 dx_hand_model_P.RateTransition_InitialConditi_h;
20572
20573 /* Start for RateTransition: '<S66>/Rate Transition' */
20574 dx_hand_model_B.RateTransition_ov =
20575 dx_hand_model_P.RateTransition_InitialCondit_mr;
20576
20577 /* Start for RateTransition: '<S34>/Rate Transition' */
20578 dx_hand_model_B.RateTransition_jm =
20579 dx_hand_model_P.RateTransition_InitialCondit_le;
20580
20581 /* Start for RateTransition: '<S47>/Rate Transition' */
20582 dx_hand_model_B.RateTransition_lp =
20583 dx_hand_model_P.RateTransition_InitialConditi_o;
20584
20585 /* Start for Atomic SubSystem: '<S19>/Subscribe' */
20586 /* Start for MATLABSystem: '<S21>/SourceBlock' */
20587 dx_hand_model_DW.obj_ct.isInitialized = 0;
20588 dx_hand_model_DW.objisempty_f4d = true;
20589 dx_hand_model_DW.obj_ct.isInitialized = 1;
20590 for (i = 0; i < 32; i++) {
20591 dx_hand_model_B.cv5[i] = tmp_3i[i];
20592 }
20593
20594 dx_hand_model_B.cv5[32] = '\x00';
20595 Sub_dx_hand_model_437.createSubscriber(dx_hand_model_B.cv5,
20596 dx_hand_model_MessageQueueLen);
20597
20598 /* End of Start for MATLABSystem: '<S21>/SourceBlock' */
20599 /* End of Start for SubSystem: '<S19>/Subscribe' */
20600
20601 /* Start for RateTransition: '<S46>/Rate Transition' */
20602 dx_hand_model_B.RateTransition_p =
20603 dx_hand_model_P.RateTransition_InitialConditi_n;
20604
20605 /* Start for RateTransition: '<S45>/Rate Transition' */
20606 dx_hand_model_B.RateTransition_b =
20607 dx_hand_model_P.RateTransition_InitialCondit_ml;
20608
20609 /* Start for RateTransition: '<S41>/Rate Transition' */
20610 dx_hand_model_B.RateTransition_pg =
20611 dx_hand_model_P.RateTransition_InitialConditi_a;
20612
20613 /* Start for MATLABSystem: '<S34>/Get Parameter3' */
20614 dx_hand_model_DW.obj_p3.isInitialized = 0;
20615 dx_hand_model_DW.objisempty_oh = true;
20616 dx_hand_model_DW.obj_p3.SampleTime = dx_hand_model_P.update_param;
20617 dx_hand_model_DW.obj_p3.isInitialized = 1;
20618 for (i = 0; i < 26; i++) {
20619 dx_hand_model_B.cv11[i] = tmp_3h[i];
20620 }
20621
20622 dx_hand_model_B.cv11[26] = '\x00';
20623 ParamGet_dx_hand_model_3562.initialize(dx_hand_model_B.cv11);
20624 ParamGet_dx_hand_model_3562.initialize_error_codes(0U, 1U, 2U, 3U);
20625 ParamGet_dx_hand_model_3562.set_initial_value
20626 (dx_hand_ParameterInitialValue_k);
20627
20628 /* End of Start for MATLABSystem: '<S34>/Get Parameter3' */
20629
20630 /* Start for MATLABSystem: '<S46>/Get Parameter3' */
20631 dx_hand_model_DW.obj_me.isInitialized = 0;
20632 dx_hand_model_DW.objisempty_ei = true;
20633 dx_hand_model_DW.obj_me.SampleTime = dx_hand_model_P.update_param;
20634 dx_hand_model_DW.obj_me.isInitialized = 1;
20635 for (i = 0; i < 28; i++) {
20636 dx_hand_model_B.cv9[i] = tmp_3g[i];
20637 }
20638
20639 dx_hand_model_B.cv9[28] = '\x00';
20640 ParamGet_dx_hand_model_3578.initialize(dx_hand_model_B.cv9);
20641 ParamGet_dx_hand_model_3578.initialize_error_codes(0U, 1U, 2U, 3U);
20642 ParamGet_dx_hand_model_3578.set_initial_value
20643 (dx_hand_m_ParameterInitialValue);
20644
20645 /* End of Start for MATLABSystem: '<S46>/Get Parameter3' */
20646
20647 /* Start for MATLABSystem: '<S47>/Get Parameter3' */
20648 dx_hand_model_DW.obj_oe.isInitialized = 0;
20649 dx_hand_model_DW.objisempty_og = true;
20650 dx_hand_model_DW.obj_oe.SampleTime = dx_hand_model_P.update_param;
20651 dx_hand_model_DW.obj_oe.isInitialized = 1;
20652 for (i = 0; i < 28; i++) {
20653 dx_hand_model_B.cv9[i] = tmp_3f[i];
20654 }
20655
20656 dx_hand_model_B.cv9[28] = '\x00';
20657 ParamGet_dx_hand_model_3588.initialize(dx_hand_model_B.cv9);
20658 ParamGet_dx_hand_model_3588.initialize_error_codes(0U, 1U, 2U, 3U);
20659 ParamGet_dx_hand_model_3588.set_initial_value
20660 (dx_han_ParameterInitialValue_kf);
20661
20662 /* End of Start for MATLABSystem: '<S47>/Get Parameter3' */
20663
20664 /* Start for MATLABSystem: '<S45>/Get Parameter3' */
20665 dx_hand_model_DW.obj_ev.isInitialized = 0;
20666 dx_hand_model_DW.objisempty_g3 = true;
20667 dx_hand_model_DW.obj_ev.SampleTime = dx_hand_model_P.update_param;
20668 dx_hand_model_DW.obj_ev.isInitialized = 1;
20669 for (i = 0; i < 30; i++) {
20670 dx_hand_model_B.cv7[i] = tmp_3e[i];
20671 }
20672
20673 dx_hand_model_B.cv7[30] = '\x00';
20674 ParamGet_dx_hand_model_2644.initialize(dx_hand_model_B.cv7);
20675 ParamGet_dx_hand_model_2644.initialize_error_codes(0U, 1U, 2U, 3U);
20676 ParamGet_dx_hand_model_2644.set_initial_value
20677 (dx_ha_ParameterInitialValue_kfa);
20678
20679 /* End of Start for MATLABSystem: '<S45>/Get Parameter3' */
20680
20681 /* Start for MATLABSystem: '<S50>/Set Parameter' */
20682 dx_hand_model_DW.obj_b1.isInitialized = 0;
20683 dx_hand_model_DW.objisempty_kmd = true;
20684 dx_hand_model_DW.obj_b1.isInitialized = 1;
20685 for (i = 0; i < 31; i++) {
20686 dx_hand_model_B.cv6[i] = tmp_3d[i];
20687 }
20688
20689 dx_hand_model_B.cv6[31] = '\x00';
20690 ParamSet_dx_hand_model_2630.initialize(dx_hand_model_B.cv6);
20691
20692 /* End of Start for MATLABSystem: '<S50>/Set Parameter' */
20693
20694 /* Start for MATLABSystem: '<S50>/Get Parameter3' */
20695 dx_hand_model_DW.obj_m2.isInitialized = 0;
20696 dx_hand_model_DW.objisempty_nre = true;
20697 dx_hand_model_DW.obj_m2.SampleTime = dx_hand_model_P.update_param;
20698 dx_hand_model_DW.obj_m2.isInitialized = 1;
20699 for (i = 0; i < 31; i++) {
20700 dx_hand_model_B.cv6[i] = tmp_3c[i];
20701 }
20702
20703 dx_hand_model_B.cv6[31] = '\x00';
20704 ParamGet_dx_hand_model_2632.initialize(dx_hand_model_B.cv6);
20705 ParamGet_dx_hand_model_2632.initialize_error_codes(0U, 1U, 2U, 3U);
20706 ParamGet_dx_hand_model_2632.set_initial_value
20707 (dx_h_ParameterInitialValue_kfai);
20708
20709 /* End of Start for MATLABSystem: '<S50>/Get Parameter3' */
20710
20711 /* Start for MATLABSystem: '<S58>/Get Parameter' */
20712 dx_hand_model_DW.obj_hfj.isInitialized = 0;
20713 dx_hand_model_DW.objisempty_drg = true;
20714 dx_hand_model_DW.obj_hfj.SampleTime = dx_hand_model_P.update_param;
20715 dx_hand_model_DW.obj_hfj.isInitialized = 1;
20716 for (i = 0; i < 20; i++) {
20717 dx_hand_model_B.cv16[i] = tmp_3b[i];
20718 }
20719
20720 dx_hand_model_B.cv16[20] = '\x00';
20721 ParamGet_dx_hand_model_2613.initialize(dx_hand_model_B.cv16);
20722 ParamGet_dx_hand_model_2613.initialize_error_codes(0U, 1U, 2U, 3U);
20723 ParamGet_dx_hand_model_2613.set_initial_value
20724 (dx_hand_m_ParameterInitialValue);
20725
20726 /* End of Start for MATLABSystem: '<S58>/Get Parameter' */
20727
20728 /* Start for MATLABSystem: '<S58>/Get Parameter1' */
20729 dx_hand_model_DW.obj_jb.isInitialized = 0;
20730 dx_hand_model_DW.objisempty_bk = true;
20731 dx_hand_model_DW.obj_jb.SampleTime = dx_hand_model_P.update_param;
20732 dx_hand_model_DW.obj_jb.isInitialized = 1;
20733 for (i = 0; i < 20; i++) {
20734 dx_hand_model_B.cv16[i] = tmp_3a[i];
20735 }
20736
20737 dx_hand_model_B.cv16[20] = '\x00';
20738 ParamGet_dx_hand_model_2614.initialize(dx_hand_model_B.cv16);
20739 ParamGet_dx_hand_model_2614.initialize_error_codes(0U, 1U, 2U, 3U);
20740 ParamGet_dx_hand_model_2614.set_initial_value
20741 (d_ParameterInitialValue_kfaixs2);
20742
20743 /* End of Start for MATLABSystem: '<S58>/Get Parameter1' */
20744
20745 /* Start for MATLABSystem: '<S58>/Get Parameter2' */
20746 dx_hand_model_DW.obj_mh.isInitialized = 0;
20747 dx_hand_model_DW.objisempty_lx = true;
20748 dx_hand_model_DW.obj_mh.SampleTime = dx_hand_model_P.update_param;
20749 dx_hand_model_DW.obj_mh.isInitialized = 1;
20750 for (i = 0; i < 22; i++) {
20751 dx_hand_model_B.cv14[i] = tmp_39[i];
20752 }
20753
20754 dx_hand_model_B.cv14[22] = '\x00';
20755 ParamGet_dx_hand_model_2615.initialize(dx_hand_model_B.cv14);
20756 ParamGet_dx_hand_model_2615.initialize_error_codes(0U, 1U, 2U, 3U);
20757 ParamGet_dx_hand_model_2615.set_initial_value
20758 (dx_ParameterInitialValue_kfaixs);
20759
20760 /* End of Start for MATLABSystem: '<S58>/Get Parameter2' */
20761
20762 /* Start for MATLABSystem: '<S58>/Get Parameter3' */
20763 dx_hand_model_DW.obj_fc.isInitialized = 0;
20764 dx_hand_model_DW.objisempty_ng = true;
20765 dx_hand_model_DW.obj_fc.SampleTime = dx_hand_model_P.update_param;
20766 dx_hand_model_DW.obj_fc.isInitialized = 1;
20767 for (i = 0; i < 17; i++) {
20768 dx_hand_model_B.cv19[i] = tmp_38[i];
20769 }
20770
20771 dx_hand_model_B.cv19[17] = '\x00';
20772 ParamGet_dx_hand_model_2616.initialize(dx_hand_model_B.cv19);
20773 ParamGet_dx_hand_model_2616.initialize_error_codes(0U, 1U, 2U, 3U);
20774 ParamGet_dx_hand_model_2616.set_initial_value
20775 (dx__ParameterInitialValue_kfaix);
20776
20777 /* End of Start for MATLABSystem: '<S58>/Get Parameter3' */
20778
20779 /* Start for MATLABSystem: '<S58>/Get Parameter4' */
20780 dx_hand_model_DW.obj_ju.isInitialized = 0;
20781 dx_hand_model_DW.objisempty_fm = true;
20782 dx_hand_model_DW.obj_ju.SampleTime = dx_hand_model_P.update_param;
20783 dx_hand_model_DW.obj_ju.isInitialized = 1;
20784 for (i = 0; i < 20; i++) {
20785 dx_hand_model_B.cv16[i] = tmp_37[i];
20786 }
20787
20788 dx_hand_model_B.cv16[20] = '\x00';
20789 ParamGet_dx_hand_model_2617.initialize(dx_hand_model_B.cv16);
20790 ParamGet_dx_hand_model_2617.initialize_error_codes(0U, 1U, 2U, 3U);
20791 ParamGet_dx_hand_model_2617.set_initial_value
20792 (dx_hand_m_ParameterInitialValue);
20793
20794 /* End of Start for MATLABSystem: '<S58>/Get Parameter4' */
20795
20796 /* Start for MATLABSystem: '<S66>/Get Parameter3' */
20797 dx_hand_model_DW.obj_al.isInitialized = 0;
20798 dx_hand_model_DW.objisempty_p5 = true;
20799 dx_hand_model_DW.obj_al.SampleTime = dx_hand_model_P.update_param;
20800 dx_hand_model_DW.obj_al.isInitialized = 1;
20801 for (i = 0; i < 30; i++) {
20802 dx_hand_model_B.cv7[i] = tmp_36[i];
20803 }
20804
20805 dx_hand_model_B.cv7[30] = '\x00';
20806 ParamGet_dx_hand_model_3323.initialize(dx_hand_model_B.cv7);
20807 ParamGet_dx_hand_model_3323.initialize_error_codes(0U, 1U, 2U, 3U);
20808 ParamGet_dx_hand_model_3323.set_initial_value
20809 (dx_hand_ParameterInitialValue_k);
20810
20811 /* End of Start for MATLABSystem: '<S66>/Get Parameter3' */
20812
20813 /* Start for MATLABSystem: '<S67>/Get Parameter3' */
20814 dx_hand_model_DW.obj_gbp.isInitialized = 0;
20815 dx_hand_model_DW.objisempty_e3 = true;
20816 dx_hand_model_DW.obj_gbp.SampleTime = dx_hand_model_P.update_param;
20817 dx_hand_model_DW.obj_gbp.isInitialized = 1;
20818 for (i = 0; i < 36; i++) {
20819 dx_hand_model_B.cv1[i] = tmp_35[i];
20820 }
20821
20822 dx_hand_model_B.cv1[36] = '\x00';
20823 ParamGet_dx_hand_model_3464.initialize(dx_hand_model_B.cv1);
20824 ParamGet_dx_hand_model_3464.initialize_error_codes(0U, 1U, 2U, 3U);
20825 ParamGet_dx_hand_model_3464.set_initial_value
20826 (dx_ha_ParameterInitialValue_kfa);
20827
20828 /* End of Start for MATLABSystem: '<S67>/Get Parameter3' */
20829
20830 /* Start for MATLABSystem: '<S68>/Get Parameter3' */
20831 dx_hand_model_DW.obj_i.isInitialized = 0;
20832 dx_hand_model_DW.objisempty_ap = true;
20833 dx_hand_model_DW.obj_i.SampleTime = dx_hand_model_P.update_param;
20834 dx_hand_model_DW.obj_i.isInitialized = 1;
20835 for (i = 0; i < 35; i++) {
20836 dx_hand_model_B.cv2[i] = tmp_34[i];
20837 }
20838
20839 dx_hand_model_B.cv2[35] = '\x00';
20840 ParamGet_dx_hand_model_3474.initialize(dx_hand_model_B.cv2);
20841 ParamGet_dx_hand_model_3474.initialize_error_codes(0U, 1U, 2U, 3U);
20842 ParamGet_dx_hand_model_3474.set_initial_value
20843 (dx_ha_ParameterInitialValue_kfa);
20844
20845 /* End of Start for MATLABSystem: '<S68>/Get Parameter3' */
20846
20847 /* Start for MATLABSystem: '<S69>/Get Parameter3' */
20848 dx_hand_model_DW.obj_lye.isInitialized = 0;
20849 dx_hand_model_DW.objisempty_kh = true;
20850 dx_hand_model_DW.obj_lye.SampleTime = dx_hand_model_P.update_param;
20851 dx_hand_model_DW.obj_lye.isInitialized = 1;
20852 for (i = 0; i < 29; i++) {
20853 dx_hand_model_B.cv8[i] = tmp_33[i];
20854 }
20855
20856 dx_hand_model_B.cv8[29] = '\x00';
20857 ParamGet_dx_hand_model_3283.initialize(dx_hand_model_B.cv8);
20858 ParamGet_dx_hand_model_3283.initialize_error_codes(0U, 1U, 2U, 3U);
20859 ParamGet_dx_hand_model_3283.set_initial_value(ParameterInitialValue_kfaixs2x);
20860
20861 /* End of Start for MATLABSystem: '<S69>/Get Parameter3' */
20862
20863 /* Start for MATLABSystem: '<S70>/Get Parameter3' */
20864 dx_hand_model_DW.obj_gts.isInitialized = 0;
20865 dx_hand_model_DW.objisempty_fw = true;
20866 dx_hand_model_DW.obj_gts.SampleTime = dx_hand_model_P.update_param;
20867 dx_hand_model_DW.obj_gts.isInitialized = 1;
20868 for (i = 0; i < 29; i++) {
20869 dx_hand_model_B.cv8[i] = tmp_32[i];
20870 }
20871
20872 dx_hand_model_B.cv8[29] = '\x00';
20873 ParamGet_dx_hand_model_3296.initialize(dx_hand_model_B.cv8);
20874 ParamGet_dx_hand_model_3296.initialize_error_codes(0U, 1U, 2U, 3U);
20875 ParamGet_dx_hand_model_3296.set_initial_value
20876 (ParameterInitialValue_kfaixs2xt);
20877
20878 /* End of Start for MATLABSystem: '<S70>/Get Parameter3' */
20879
20880 /* Start for MATLABSystem: '<S71>/Get Parameter3' */
20881 dx_hand_model_DW.obj_d4.isInitialized = 0;
20882 dx_hand_model_DW.objisempty_mu2 = true;
20883 dx_hand_model_DW.obj_d4.SampleTime = dx_hand_model_P.update_param;
20884 dx_hand_model_DW.obj_d4.isInitialized = 1;
20885 for (i = 0; i < 29; i++) {
20886 dx_hand_model_B.cv8[i] = tmp_31[i];
20887 }
20888
20889 dx_hand_model_B.cv8[29] = '\x00';
20890 ParamGet_dx_hand_model_3307.initialize(dx_hand_model_B.cv8);
20891 ParamGet_dx_hand_model_3307.initialize_error_codes(0U, 1U, 2U, 3U);
20892 ParamGet_dx_hand_model_3307.set_initial_value
20893 (dx_hand_m_ParameterInitialValue);
20894
20895 /* End of Start for MATLABSystem: '<S71>/Get Parameter3' */
20896
20897 /* Start for MATLABSystem: '<S72>/Get Parameter3' */
20898 dx_hand_model_DW.obj_fo.isInitialized = 0;
20899 dx_hand_model_DW.objisempty_i2 = true;
20900 dx_hand_model_DW.obj_fo.SampleTime = dx_hand_model_P.update_param;
20901 dx_hand_model_DW.obj_fo.isInitialized = 1;
20902 for (i = 0; i < 29; i++) {
20903 dx_hand_model_B.cv8[i] = tmp_30[i];
20904 }
20905
20906 dx_hand_model_B.cv8[29] = '\x00';
20907 ParamGet_dx_hand_model_3314.initialize(dx_hand_model_B.cv8);
20908 ParamGet_dx_hand_model_3314.initialize_error_codes(0U, 1U, 2U, 3U);
20909 ParamGet_dx_hand_model_3314.set_initial_value
20910 (dx_hand_m_ParameterInitialValue);
20911
20912 /* End of Start for MATLABSystem: '<S72>/Get Parameter3' */
20913
20914 /* Start for MATLABSystem: '<S39>/Get Parameter3' */
20915 dx_hand_model_DW.obj_cc.isInitialized = 0;
20916 dx_hand_model_DW.objisempty_mn = true;
20917 dx_hand_model_DW.obj_cc.SampleTime = dx_hand_model_P.update_param;
20918 dx_hand_model_DW.obj_cc.isInitialized = 1;
20919 for (i = 0; i < 19; i++) {
20920 dx_hand_model_B.cv17[i] = tmp_2z[i];
20921 }
20922
20923 dx_hand_model_B.cv17[19] = '\x00';
20924 ParamGet_dx_hand_model_3238.initialize(dx_hand_model_B.cv17);
20925 ParamGet_dx_hand_model_3238.initialize_error_codes(0U, 1U, 2U, 3U);
20926 ParamGet_dx_hand_model_3238.set_initial_value
20927 (dx_hand_ParameterInitialValue_k);
20928
20929 /* End of Start for MATLABSystem: '<S39>/Get Parameter3' */
20930
20931 /* Start for MATLABSystem: '<S76>/Get Parameter3' */
20932 dx_hand_model_DW.obj_nd.isInitialized = 0;
20933 dx_hand_model_DW.objisempty_nq = true;
20934 dx_hand_model_DW.obj_nd.SampleTime = dx_hand_model_P.update_param;
20935 dx_hand_model_DW.obj_nd.isInitialized = 1;
20936 for (i = 0; i < 33; i++) {
20937 dx_hand_model_B.cv4[i] = tmp_2y[i];
20938 }
20939
20940 dx_hand_model_B.cv4[33] = '\x00';
20941 ParamGet_dx_hand_model_3391.initialize(dx_hand_model_B.cv4);
20942 ParamGet_dx_hand_model_3391.initialize_error_codes(0U, 1U, 2U, 3U);
20943 ParamGet_dx_hand_model_3391.set_initial_value
20944 (dx_hand_ParameterInitialValue_k);
20945
20946 /* End of Start for MATLABSystem: '<S76>/Get Parameter3' */
20947
20948 /* Start for MATLABSystem: '<S77>/Get Parameter3' */
20949 dx_hand_model_DW.obj_cm.isInitialized = 0;
20950 dx_hand_model_DW.objisempty_d4 = true;
20951 dx_hand_model_DW.obj_cm.SampleTime = dx_hand_model_P.update_param;
20952 dx_hand_model_DW.obj_cm.isInitialized = 1;
20953 for (i = 0; i < 33; i++) {
20954 dx_hand_model_B.cv4[i] = tmp_2x[i];
20955 }
20956
20957 dx_hand_model_B.cv4[33] = '\x00';
20958 ParamGet_dx_hand_model_3398.initialize(dx_hand_model_B.cv4);
20959 ParamGet_dx_hand_model_3398.initialize_error_codes(0U, 1U, 2U, 3U);
20960 ParamGet_dx_hand_model_3398.set_initial_value
20961 (dx_hand_ParameterInitialValue_k);
20962
20963 /* End of Start for MATLABSystem: '<S77>/Get Parameter3' */
20964
20965 /* Start for MATLABSystem: '<S41>/Get Parameter3' */
20966 dx_hand_model_DW.obj_ls.isInitialized = 0;
20967 dx_hand_model_DW.objisempty_o4 = true;
20968 dx_hand_model_DW.obj_ls.SampleTime = dx_hand_model_P.update_param;
20969 dx_hand_model_DW.obj_ls.isInitialized = 1;
20970 for (i = 0; i < 31; i++) {
20971 dx_hand_model_B.cv6[i] = tmp_2w[i];
20972 }
20973
20974 dx_hand_model_B.cv6[31] = '\x00';
20975 ParamGet_dx_hand_model_3507.initialize(dx_hand_model_B.cv6);
20976 ParamGet_dx_hand_model_3507.initialize_error_codes(0U, 1U, 2U, 3U);
20977 ParamGet_dx_hand_model_3507.set_initial_value
20978 (dx_ha_ParameterInitialValue_kfa);
20979
20980 /* End of Start for MATLABSystem: '<S41>/Get Parameter3' */
20981
20982 /* Start for RateTransition: '<S78>/Rate Transition' */
20983 dx_hand_model_B.RateTransition_pi =
20984 dx_hand_model_P.RateTransition_InitialConditi_c;
20985
20986 /* Start for MATLABSystem: '<S78>/Get Parameter3' */
20987 dx_hand_model_DW.obj_p1.isInitialized = 0;
20988 dx_hand_model_DW.objisempty_ee = true;
20989 dx_hand_model_DW.obj_p1.SampleTime = dx_hand_model_P.update_param;
20990 dx_hand_model_DW.obj_p1.isInitialized = 1;
20991 for (i = 0; i < 32; i++) {
20992 dx_hand_model_B.cv5[i] = tmp_2v[i];
20993 }
20994
20995 dx_hand_model_B.cv5[32] = '\x00';
20996 ParamGet_dx_hand_model_4871.initialize(dx_hand_model_B.cv5);
20997 ParamGet_dx_hand_model_4871.initialize_error_codes(0U, 1U, 2U, 3U);
20998 ParamGet_dx_hand_model_4871.set_initial_value
20999 (dx_hand_ParameterInitialValue_k);
21000
21001 /* End of Start for MATLABSystem: '<S78>/Get Parameter3' */
21002
21003 /* Start for RateTransition: '<S84>/Rate Transition' */
21004 dx_hand_model_B.RateTransition_i =
21005 dx_hand_model_P.RateTransition_InitialCondit_h1;
21006
21007 /* Start for RateTransition: '<S92>/Rate Transition' */
21008 dx_hand_model_B.RateTransition_d =
21009 dx_hand_model_P.RateTransition_InitialConditi_j;
21010
21011 /* Start for RateTransition: '<S81>/Rate Transition' */
21012 for (i = 0; i < 5; i++) {
21013 dx_hand_model_B.RateTransition_ie[i] =
21014 dx_hand_model_P.RateTransition_InitialCondit_ho;
21015 }
21016
21017 /* End of Start for RateTransition: '<S81>/Rate Transition' */
21018
21019 /* Start for RateTransition: '<S119>/Rate Transition' */
21020 dx_hand_model_B.RateTransition_gd =
21021 dx_hand_model_P.RateTransition_InitialCondit_hj;
21022
21023 /* Start for RateTransition: '<S87>/Rate Transition' */
21024 dx_hand_model_B.RateTransition_ii =
21025 dx_hand_model_P.RateTransition_InitialCondit_fa;
21026
21027 /* Start for RateTransition: '<S120>/Rate Transition' */
21028 dx_hand_model_B.RateTransition_po =
21029 dx_hand_model_P.RateTransition_InitialCondit_oz;
21030
21031 /* Start for RateTransition: '<S88>/Rate Transition' */
21032 dx_hand_model_B.RateTransition_aj =
21033 dx_hand_model_P.RateTransition_InitialCondit_lg;
21034
21035 /* Start for RateTransition: '<S121>/Rate Transition' */
21036 dx_hand_model_B.RateTransition_oh =
21037 dx_hand_model_P.RateTransition_InitialCondit_dc;
21038
21039 /* Start for RateTransition: '<S117>/Rate Transition' */
21040 dx_hand_model_B.RateTransition_bq =
21041 dx_hand_model_P.RateTransition_InitialConditi_p;
21042
21043 /* Start for RateTransition: '<S122>/Rate Transition' */
21044 dx_hand_model_B.RateTransition_m =
21045 dx_hand_model_P.RateTransition_InitialCondit_eh;
21046
21047 /* Start for RateTransition: '<S118>/Rate Transition' */
21048 dx_hand_model_B.RateTransition_pa =
21049 dx_hand_model_P.RateTransition_InitialCondit_ie;
21050
21051 /* Start for RateTransition: '<S116>/Rate Transition' */
21052 dx_hand_model_B.RateTransition_k2 =
21053 dx_hand_model_P.RateTransition_InitialCondit_f5;
21054
21055 /* Start for RateTransition: '<S79>/Rate Transition' */
21056 dx_hand_model_B.RateTransition_d1 =
21057 dx_hand_model_P.RateTransition_InitialCondit_co;
21058
21059 /* Start for RateTransition: '<S109>/Rate Transition' */
21060 dx_hand_model_B.RateTransition_mp =
21061 dx_hand_model_P.RateTransition_InitialCondit_j1;
21062
21063 /* Start for RateTransition: '<S108>/Rate Transition' */
21064 dx_hand_model_B.RateTransition_k3 =
21065 dx_hand_model_P.RateTransition_InitialConditi_k;
21066
21067 /* Start for RateTransition: '<S107>/Rate Transition' */
21068 dx_hand_model_B.RateTransition_fg =
21069 dx_hand_model_P.RateTransition_InitialCondit_ks;
21070
21071 /* Start for RateTransition: '<S89>/Rate Transition' */
21072 dx_hand_model_B.RateTransition_ps =
21073 dx_hand_model_P.RateTransition_InitialCondit_h4;
21074
21075 /* Start for MATLABSystem: '<S79>/Get Parameter3' */
21076 dx_hand_model_DW.obj_hg.isInitialized = 0;
21077 dx_hand_model_DW.objisempty_cts = true;
21078 dx_hand_model_DW.obj_hg.SampleTime = dx_hand_model_P.update_param;
21079 dx_hand_model_DW.obj_hg.isInitialized = 1;
21080 for (i = 0; i < 27; i++) {
21081 dx_hand_model_B.cv10[i] = tmp_2u[i];
21082 }
21083
21084 dx_hand_model_B.cv10[27] = '\x00';
21085 ParamGet_dx_hand_model_3550.initialize(dx_hand_model_B.cv10);
21086 ParamGet_dx_hand_model_3550.initialize_error_codes(0U, 1U, 2U, 3U);
21087 ParamGet_dx_hand_model_3550.set_initial_value
21088 (dx_hand_ParameterInitialValue_k);
21089
21090 /* End of Start for MATLABSystem: '<S79>/Get Parameter3' */
21091
21092 /* Start for MATLABSystem: '<S92>/Set Parameter' */
21093 dx_hand_model_DW.obj_nru.isInitialized = 0;
21094 dx_hand_model_DW.objisempty_bj = true;
21095 dx_hand_model_DW.obj_nru.isInitialized = 1;
21096 for (i = 0; i < 32; i++) {
21097 dx_hand_model_B.cv5[i] = tmp_2t[i];
21098 }
21099
21100 dx_hand_model_B.cv5[32] = '\x00';
21101 ParamSet_dx_hand_model_2567.initialize(dx_hand_model_B.cv5);
21102
21103 /* End of Start for MATLABSystem: '<S92>/Set Parameter' */
21104
21105 /* Start for MATLABSystem: '<S92>/Get Parameter3' */
21106 dx_hand_model_DW.obj_aea.isInitialized = 0;
21107 dx_hand_model_DW.objisempty_iim = true;
21108 dx_hand_model_DW.obj_aea.SampleTime = dx_hand_model_P.update_param;
21109 dx_hand_model_DW.obj_aea.isInitialized = 1;
21110 for (i = 0; i < 32; i++) {
21111 dx_hand_model_B.cv5[i] = tmp_2s[i];
21112 }
21113
21114 dx_hand_model_B.cv5[32] = '\x00';
21115 ParamGet_dx_hand_model_2565.initialize(dx_hand_model_B.cv5);
21116 ParamGet_dx_hand_model_2565.initialize_error_codes(0U, 1U, 2U, 3U);
21117 ParamGet_dx_hand_model_2565.set_initial_value
21118 (ParameterInitialValu_kfaixs2xtf);
21119
21120 /* End of Start for MATLABSystem: '<S92>/Get Parameter3' */
21121
21122 /* Start for MATLABSystem: '<S102>/Get Parameter' */
21123 dx_hand_model_DW.obj_hu.isInitialized = 0;
21124 dx_hand_model_DW.objisempty_e4 = true;
21125 dx_hand_model_DW.obj_hu.SampleTime = dx_hand_model_P.update_param;
21126 dx_hand_model_DW.obj_hu.isInitialized = 1;
21127 for (i = 0; i < 21; i++) {
21128 dx_hand_model_B.cv15[i] = tmp_2r[i];
21129 }
21130
21131 dx_hand_model_B.cv15[21] = '\x00';
21132 ParamGet_dx_hand_model_2519.initialize(dx_hand_model_B.cv15);
21133 ParamGet_dx_hand_model_2519.initialize_error_codes(0U, 1U, 2U, 3U);
21134 ParamGet_dx_hand_model_2519.set_initial_value
21135 (dx_hand_m_ParameterInitialValue);
21136
21137 /* End of Start for MATLABSystem: '<S102>/Get Parameter' */
21138
21139 /* Start for MATLABSystem: '<S102>/Get Parameter1' */
21140 dx_hand_model_DW.obj_hf.isInitialized = 0;
21141 dx_hand_model_DW.objisempty_cg = true;
21142 dx_hand_model_DW.obj_hf.SampleTime = dx_hand_model_P.update_param;
21143 dx_hand_model_DW.obj_hf.isInitialized = 1;
21144 for (i = 0; i < 21; i++) {
21145 dx_hand_model_B.cv15[i] = tmp_2q[i];
21146 }
21147
21148 dx_hand_model_B.cv15[21] = '\x00';
21149 ParamGet_dx_hand_model_2520.initialize(dx_hand_model_B.cv15);
21150 ParamGet_dx_hand_model_2520.initialize_error_codes(0U, 1U, 2U, 3U);
21151 ParamGet_dx_hand_model_2520.set_initial_value
21152 (ParameterInitialV_kfaixs2xtfarg);
21153
21154 /* End of Start for MATLABSystem: '<S102>/Get Parameter1' */
21155
21156 /* Start for MATLABSystem: '<S102>/Get Parameter2' */
21157 dx_hand_model_DW.obj_n2.isInitialized = 0;
21158 dx_hand_model_DW.objisempty_f4u = true;
21159 dx_hand_model_DW.obj_n2.SampleTime = dx_hand_model_P.update_param;
21160 dx_hand_model_DW.obj_n2.isInitialized = 1;
21161 for (i = 0; i < 23; i++) {
21162 dx_hand_model_B.cv13[i] = tmp_2p[i];
21163 }
21164
21165 dx_hand_model_B.cv13[23] = '\x00';
21166 ParamGet_dx_hand_model_2521.initialize(dx_hand_model_B.cv13);
21167 ParamGet_dx_hand_model_2521.initialize_error_codes(0U, 1U, 2U, 3U);
21168 ParamGet_dx_hand_model_2521.set_initial_value
21169 (ParameterInitialVa_kfaixs2xtfar);
21170
21171 /* End of Start for MATLABSystem: '<S102>/Get Parameter2' */
21172
21173 /* Start for MATLABSystem: '<S102>/Get Parameter3' */
21174 dx_hand_model_DW.obj_e1.isInitialized = 0;
21175 dx_hand_model_DW.objisempty_a3 = true;
21176 dx_hand_model_DW.obj_e1.SampleTime = dx_hand_model_P.update_param;
21177 dx_hand_model_DW.obj_e1.isInitialized = 1;
21178 for (i = 0; i < 18; i++) {
21179 dx_hand_model_B.cv18[i] = tmp_2o[i];
21180 }
21181
21182 dx_hand_model_B.cv18[18] = '\x00';
21183 ParamGet_dx_hand_model_2522.initialize(dx_hand_model_B.cv18);
21184 ParamGet_dx_hand_model_2522.initialize_error_codes(0U, 1U, 2U, 3U);
21185 ParamGet_dx_hand_model_2522.set_initial_value
21186 (ParameterInitialVal_kfaixs2xtfa);
21187
21188 /* End of Start for MATLABSystem: '<S102>/Get Parameter3' */
21189
21190 /* Start for MATLABSystem: '<S102>/Get Parameter4' */
21191 dx_hand_model_DW.obj_gg.isInitialized = 0;
21192 dx_hand_model_DW.objisempty_j5v = true;
21193 dx_hand_model_DW.obj_gg.SampleTime = dx_hand_model_P.update_param;
21194 dx_hand_model_DW.obj_gg.isInitialized = 1;
21195 for (i = 0; i < 21; i++) {
21196 dx_hand_model_B.cv15[i] = tmp_2n[i];
21197 }
21198
21199 dx_hand_model_B.cv15[21] = '\x00';
21200 ParamGet_dx_hand_model_2523.initialize(dx_hand_model_B.cv15);
21201 ParamGet_dx_hand_model_2523.initialize_error_codes(0U, 1U, 2U, 3U);
21202 ParamGet_dx_hand_model_2523.set_initial_value
21203 (dx_hand_m_ParameterInitialValue);
21204
21205 /* End of Start for MATLABSystem: '<S102>/Get Parameter4' */
21206
21207 /* Start for MATLABSystem: '<S108>/Get Parameter3' */
21208 dx_hand_model_DW.obj_ae1.isInitialized = 0;
21209 dx_hand_model_DW.objisempty_ec = true;
21210 dx_hand_model_DW.obj_ae1.SampleTime = dx_hand_model_P.update_param;
21211 dx_hand_model_DW.obj_ae1.isInitialized = 1;
21212 for (i = 0; i < 29; i++) {
21213 dx_hand_model_B.cv8[i] = tmp_2m[i];
21214 }
21215
21216 dx_hand_model_B.cv8[29] = '\x00';
21217 ParamGet_dx_hand_model_2703.initialize(dx_hand_model_B.cv8);
21218 ParamGet_dx_hand_model_2703.initialize_error_codes(0U, 1U, 2U, 3U);
21219 ParamGet_dx_hand_model_2703.set_initial_value
21220 (ParameterInitial_kfaixs2xtfargw);
21221
21222 /* End of Start for MATLABSystem: '<S108>/Get Parameter3' */
21223
21224 /* Start for MATLABSystem: '<S109>/Get Parameter3' */
21225 dx_hand_model_DW.obj_pu.isInitialized = 0;
21226 dx_hand_model_DW.objisempty_k3 = true;
21227 dx_hand_model_DW.obj_pu.SampleTime = dx_hand_model_P.update_param;
21228 dx_hand_model_DW.obj_pu.isInitialized = 1;
21229 for (i = 0; i < 29; i++) {
21230 dx_hand_model_B.cv8[i] = tmp_2l[i];
21231 }
21232
21233 dx_hand_model_B.cv8[29] = '\x00';
21234 ParamGet_dx_hand_model_2713.initialize(dx_hand_model_B.cv8);
21235 ParamGet_dx_hand_model_2713.initialize_error_codes(0U, 1U, 2U, 3U);
21236 ParamGet_dx_hand_model_2713.set_initial_value
21237 (dx_han_ParameterInitialValue_kf);
21238
21239 /* End of Start for MATLABSystem: '<S109>/Get Parameter3' */
21240
21241 /* Start for MATLABSystem: '<S107>/Get Parameter3' */
21242 dx_hand_model_DW.obj_gr.isInitialized = 0;
21243 dx_hand_model_DW.objisempty_f4 = true;
21244 dx_hand_model_DW.obj_gr.SampleTime = dx_hand_model_P.update_param;
21245 dx_hand_model_DW.obj_gr.isInitialized = 1;
21246 for (i = 0; i < 31; i++) {
21247 dx_hand_model_B.cv6[i] = tmp_2k[i];
21248 }
21249
21250 dx_hand_model_B.cv6[31] = '\x00';
21251 ParamGet_dx_hand_model_2571.initialize(dx_hand_model_B.cv6);
21252 ParamGet_dx_hand_model_2571.initialize_error_codes(0U, 1U, 2U, 3U);
21253 ParamGet_dx_hand_model_2571.set_initial_value
21254 (dx_ha_ParameterInitialValue_kfa);
21255
21256 /* End of Start for MATLABSystem: '<S107>/Get Parameter3' */
21257
21258 /* Start for MATLABSystem: '<S116>/Get Parameter3' */
21259 dx_hand_model_DW.obj_pi.isInitialized = 0;
21260 dx_hand_model_DW.objisempty_im = true;
21261 dx_hand_model_DW.obj_pi.SampleTime = dx_hand_model_P.update_param;
21262 dx_hand_model_DW.obj_pi.isInitialized = 1;
21263 for (i = 0; i < 31; i++) {
21264 dx_hand_model_B.cv6[i] = tmp_2j[i];
21265 }
21266
21267 dx_hand_model_B.cv6[31] = '\x00';
21268 ParamGet_dx_hand_model_3348.initialize(dx_hand_model_B.cv6);
21269 ParamGet_dx_hand_model_3348.initialize_error_codes(0U, 1U, 2U, 3U);
21270 ParamGet_dx_hand_model_3348.set_initial_value
21271 (dx_hand_ParameterInitialValue_k);
21272
21273 /* End of Start for MATLABSystem: '<S116>/Get Parameter3' */
21274
21275 /* Start for MATLABSystem: '<S117>/Get Parameter3' */
21276 dx_hand_model_DW.obj_k3.isInitialized = 0;
21277 dx_hand_model_DW.objisempty_eb = true;
21278 dx_hand_model_DW.obj_k3.SampleTime = dx_hand_model_P.update_param;
21279 dx_hand_model_DW.obj_k3.isInitialized = 1;
21280 for (i = 0; i < 37; i++) {
21281 dx_hand_model_B.cv0[i] = tmp_2i[i];
21282 }
21283
21284 dx_hand_model_B.cv0[37] = '\x00';
21285 ParamGet_dx_hand_model_3482.initialize(dx_hand_model_B.cv0);
21286 ParamGet_dx_hand_model_3482.initialize_error_codes(0U, 1U, 2U, 3U);
21287 ParamGet_dx_hand_model_3482.set_initial_value
21288 (dx_ha_ParameterInitialValue_kfa);
21289
21290 /* End of Start for MATLABSystem: '<S117>/Get Parameter3' */
21291
21292 /* Start for MATLABSystem: '<S118>/Get Parameter3' */
21293 dx_hand_model_DW.obj_lx.isInitialized = 0;
21294 dx_hand_model_DW.objisempty_oi = true;
21295 dx_hand_model_DW.obj_lx.SampleTime = dx_hand_model_P.update_param;
21296 dx_hand_model_DW.obj_lx.isInitialized = 1;
21297 for (i = 0; i < 36; i++) {
21298 dx_hand_model_B.cv1[i] = tmp_2h[i];
21299 }
21300
21301 dx_hand_model_B.cv1[36] = '\x00';
21302 ParamGet_dx_hand_model_3490.initialize(dx_hand_model_B.cv1);
21303 ParamGet_dx_hand_model_3490.initialize_error_codes(0U, 1U, 2U, 3U);
21304 ParamGet_dx_hand_model_3490.set_initial_value
21305 (dx_ha_ParameterInitialValue_kfa);
21306
21307 /* End of Start for MATLABSystem: '<S118>/Get Parameter3' */
21308
21309 /* Start for MATLABSystem: '<S119>/Get Parameter3' */
21310 dx_hand_model_DW.obj_mw.isInitialized = 0;
21311 dx_hand_model_DW.objisempty_hw = true;
21312 dx_hand_model_DW.obj_mw.SampleTime = dx_hand_model_P.update_param;
21313 dx_hand_model_DW.obj_mw.isInitialized = 1;
21314 for (i = 0; i < 30; i++) {
21315 dx_hand_model_B.cv7[i] = tmp_2g[i];
21316 }
21317
21318 dx_hand_model_B.cv7[30] = '\x00';
21319 ParamGet_dx_hand_model_3362.initialize(dx_hand_model_B.cv7);
21320 ParamGet_dx_hand_model_3362.initialize_error_codes(0U, 1U, 2U, 3U);
21321 ParamGet_dx_hand_model_3362.set_initial_value(ParameterInitialValue_kfaixs2x);
21322
21323 /* End of Start for MATLABSystem: '<S119>/Get Parameter3' */
21324
21325 /* Start for MATLABSystem: '<S120>/Get Parameter3' */
21326 dx_hand_model_DW.obj_fx.isInitialized = 0;
21327 dx_hand_model_DW.objisempty_ld = true;
21328 dx_hand_model_DW.obj_fx.SampleTime = dx_hand_model_P.update_param;
21329 dx_hand_model_DW.obj_fx.isInitialized = 1;
21330 for (i = 0; i < 30; i++) {
21331 dx_hand_model_B.cv7[i] = tmp_2f[i];
21332 }
21333
21334 dx_hand_model_B.cv7[30] = '\x00';
21335 ParamGet_dx_hand_model_3369.initialize(dx_hand_model_B.cv7);
21336 ParamGet_dx_hand_model_3369.initialize_error_codes(0U, 1U, 2U, 3U);
21337 ParamGet_dx_hand_model_3369.set_initial_value
21338 (ParameterInitialValue_kfaixs2xt);
21339
21340 /* End of Start for MATLABSystem: '<S120>/Get Parameter3' */
21341
21342 /* Start for MATLABSystem: '<S121>/Get Parameter3' */
21343 dx_hand_model_DW.obj_ha.isInitialized = 0;
21344 dx_hand_model_DW.objisempty_h4 = true;
21345 dx_hand_model_DW.obj_ha.SampleTime = dx_hand_model_P.update_param;
21346 dx_hand_model_DW.obj_ha.isInitialized = 1;
21347 for (i = 0; i < 30; i++) {
21348 dx_hand_model_B.cv7[i] = tmp_2e[i];
21349 }
21350
21351 dx_hand_model_B.cv7[30] = '\x00';
21352 ParamGet_dx_hand_model_3376.initialize(dx_hand_model_B.cv7);
21353 ParamGet_dx_hand_model_3376.initialize_error_codes(0U, 1U, 2U, 3U);
21354 ParamGet_dx_hand_model_3376.set_initial_value
21355 (dx_hand_m_ParameterInitialValue);
21356
21357 /* End of Start for MATLABSystem: '<S121>/Get Parameter3' */
21358
21359 /* Start for MATLABSystem: '<S122>/Get Parameter3' */
21360 dx_hand_model_DW.obj_ot.isInitialized = 0;
21361 dx_hand_model_DW.objisempty_kj = true;
21362 dx_hand_model_DW.obj_ot.SampleTime = dx_hand_model_P.update_param;
21363 dx_hand_model_DW.obj_ot.isInitialized = 1;
21364 for (i = 0; i < 30; i++) {
21365 dx_hand_model_B.cv7[i] = tmp_2d[i];
21366 }
21367
21368 dx_hand_model_B.cv7[30] = '\x00';
21369 ParamGet_dx_hand_model_3383.initialize(dx_hand_model_B.cv7);
21370 ParamGet_dx_hand_model_3383.initialize_error_codes(0U, 1U, 2U, 3U);
21371 ParamGet_dx_hand_model_3383.set_initial_value
21372 (dx_hand_m_ParameterInitialValue);
21373
21374 /* End of Start for MATLABSystem: '<S122>/Get Parameter3' */
21375
21376 /* Start for MATLABSystem: '<S84>/Get Parameter3' */
21377 dx_hand_model_DW.obj_h3.isInitialized = 0;
21378 dx_hand_model_DW.objisempty_f0 = true;
21379 dx_hand_model_DW.obj_h3.SampleTime = dx_hand_model_P.update_param;
21380 dx_hand_model_DW.obj_h3.isInitialized = 1;
21381 for (i = 0; i < 20; i++) {
21382 dx_hand_model_B.cv16[i] = tmp_2c[i];
21383 }
21384
21385 dx_hand_model_B.cv16[20] = '\x00';
21386 ParamGet_dx_hand_model_3245.initialize(dx_hand_model_B.cv16);
21387 ParamGet_dx_hand_model_3245.initialize_error_codes(0U, 1U, 2U, 3U);
21388 ParamGet_dx_hand_model_3245.set_initial_value
21389 (dx_hand_ParameterInitialValue_k);
21390
21391 /* End of Start for MATLABSystem: '<S84>/Get Parameter3' */
21392
21393 /* Start for MATLABSystem: '<S87>/Get Parameter3' */
21394 dx_hand_model_DW.obj_bs.isInitialized = 0;
21395 dx_hand_model_DW.objisempty_op = true;
21396 dx_hand_model_DW.obj_bs.SampleTime = dx_hand_model_P.update_param;
21397 dx_hand_model_DW.obj_bs.isInitialized = 1;
21398 for (i = 0; i < 34; i++) {
21399 dx_hand_model_B.cv3[i] = tmp_2b[i];
21400 }
21401
21402 dx_hand_model_B.cv3[34] = '\x00';
21403 ParamGet_dx_hand_model_3405.initialize(dx_hand_model_B.cv3);
21404 ParamGet_dx_hand_model_3405.initialize_error_codes(0U, 1U, 2U, 3U);
21405 ParamGet_dx_hand_model_3405.set_initial_value
21406 (dx_hand_ParameterInitialValue_k);
21407
21408 /* End of Start for MATLABSystem: '<S87>/Get Parameter3' */
21409
21410 /* Start for MATLABSystem: '<S88>/Get Parameter3' */
21411 dx_hand_model_DW.obj_hxn.isInitialized = 0;
21412 dx_hand_model_DW.objisempty_bi = true;
21413 dx_hand_model_DW.obj_hxn.SampleTime = dx_hand_model_P.update_param;
21414 dx_hand_model_DW.obj_hxn.isInitialized = 1;
21415 for (i = 0; i < 34; i++) {
21416 dx_hand_model_B.cv3[i] = tmp_2a[i];
21417 }
21418
21419 dx_hand_model_B.cv3[34] = '\x00';
21420 ParamGet_dx_hand_model_3412.initialize(dx_hand_model_B.cv3);
21421 ParamGet_dx_hand_model_3412.initialize_error_codes(0U, 1U, 2U, 3U);
21422 ParamGet_dx_hand_model_3412.set_initial_value
21423 (dx_hand_ParameterInitialValue_k);
21424
21425 /* End of Start for MATLABSystem: '<S88>/Get Parameter3' */
21426
21427 /* Start for MATLABSystem: '<S89>/Get Parameter3' */
21428 dx_hand_model_DW.obj_ddh.isInitialized = 0;
21429 dx_hand_model_DW.objisempty_dq = true;
21430 dx_hand_model_DW.obj_ddh.SampleTime = dx_hand_model_P.update_param;
21431 dx_hand_model_DW.obj_ddh.isInitialized = 1;
21432 for (i = 0; i < 32; i++) {
21433 dx_hand_model_B.cv5[i] = tmp_29[i];
21434 }
21435
21436 dx_hand_model_B.cv5[32] = '\x00';
21437 ParamGet_dx_hand_model_3498.initialize(dx_hand_model_B.cv5);
21438 ParamGet_dx_hand_model_3498.initialize_error_codes(0U, 1U, 2U, 3U);
21439 ParamGet_dx_hand_model_3498.set_initial_value
21440 (dx_ha_ParameterInitialValue_kfa);
21441
21442 /* End of Start for MATLABSystem: '<S89>/Get Parameter3' */
21443
21444 /* Start for RateTransition: '<S124>/Rate Transition' */
21445 dx_hand_model_B.RateTransition_a3 =
21446 dx_hand_model_P.RateTransition_InitialCondit_n1;
21447
21448 /* Start for MATLABSystem: '<S124>/Get Parameter3' */
21449 dx_hand_model_DW.obj_pp.isInitialized = 0;
21450 dx_hand_model_DW.objisempty_hh = true;
21451 dx_hand_model_DW.obj_pp.SampleTime = dx_hand_model_P.update_param;
21452 dx_hand_model_DW.obj_pp.isInitialized = 1;
21453 for (i = 0; i < 31; i++) {
21454 dx_hand_model_B.cv6[i] = tmp_28[i];
21455 }
21456
21457 dx_hand_model_B.cv6[31] = '\x00';
21458 ParamGet_dx_hand_model_4887.initialize(dx_hand_model_B.cv6);
21459 ParamGet_dx_hand_model_4887.initialize_error_codes(0U, 1U, 2U, 3U);
21460 ParamGet_dx_hand_model_4887.set_initial_value
21461 (dx_hand_ParameterInitialValue_k);
21462
21463 /* End of Start for MATLABSystem: '<S124>/Get Parameter3' */
21464
21465 /* Start for RateTransition: '<S131>/Rate Transition' */
21466 dx_hand_model_B.RateTransition_k3g =
21467 dx_hand_model_P.RateTransition_InitialCondit_by;
21468
21469 /* Start for RateTransition: '<S139>/Rate Transition' */
21470 dx_hand_model_B.RateTransition_dn =
21471 dx_hand_model_P.RateTransition_InitialCondit_ey;
21472
21473 /* Start for RateTransition: '<S128>/Rate Transition' */
21474 for (i = 0; i < 5; i++) {
21475 dx_hand_model_B.RateTransition_dw[i] =
21476 dx_hand_model_P.RateTransition_InitialCondit_kp;
21477 }
21478
21479 /* End of Start for RateTransition: '<S128>/Rate Transition' */
21480
21481 /* Start for RateTransition: '<S164>/Rate Transition' */
21482 dx_hand_model_B.RateTransition_p4 =
21483 dx_hand_model_P.RateTransition_InitialCondit_nj;
21484
21485 /* Start for RateTransition: '<S134>/Rate Transition' */
21486 dx_hand_model_B.RateTransition_ng =
21487 dx_hand_model_P.RateTransition_InitialCondit_da;
21488
21489 /* Start for RateTransition: '<S165>/Rate Transition' */
21490 dx_hand_model_B.RateTransition_ld =
21491 dx_hand_model_P.RateTransition_InitialCondit_oe;
21492
21493 /* Start for RateTransition: '<S135>/Rate Transition' */
21494 dx_hand_model_B.RateTransition_km =
21495 dx_hand_model_P.RateTransition_InitialCondit_hg;
21496
21497 /* Start for RateTransition: '<S166>/Rate Transition' */
21498 dx_hand_model_B.RateTransition_ky =
21499 dx_hand_model_P.RateTransition_InitialCondit_ag;
21500
21501 /* Start for RateTransition: '<S162>/Rate Transition' */
21502 dx_hand_model_B.RateTransition_e =
21503 dx_hand_model_P.RateTransition_InitialCondit_of;
21504
21505 /* Start for RateTransition: '<S167>/Rate Transition' */
21506 dx_hand_model_B.RateTransition_ks =
21507 dx_hand_model_P.RateTransition_InitialCondit_nc;
21508
21509 /* Start for RateTransition: '<S163>/Rate Transition' */
21510 dx_hand_model_B.RateTransition_pgy =
21511 dx_hand_model_P.RateTransition_InitialCondit_gk;
21512
21513 /* Start for RateTransition: '<S161>/Rate Transition' */
21514 dx_hand_model_B.RateTransition_o0 =
21515 dx_hand_model_P.RateTransition_InitialCondit_e4;
21516
21517 /* Start for RateTransition: '<S126>/Rate Transition' */
21518 dx_hand_model_B.RateTransition_bs =
21519 dx_hand_model_P.RateTransition_InitialCondit_bl;
21520
21521 /* Start for RateTransition: '<S154>/Rate Transition' */
21522 dx_hand_model_B.RateTransition_a2 =
21523 dx_hand_model_P.RateTransition_InitialCondit_ee;
21524
21525 /* Start for RateTransition: '<S153>/Rate Transition' */
21526 dx_hand_model_B.RateTransition_pb =
21527 dx_hand_model_P.RateTransition_InitialCondit_dj;
21528
21529 /* Start for RateTransition: '<S152>/Rate Transition' */
21530 dx_hand_model_B.RateTransition_lt =
21531 dx_hand_model_P.RateTransition_InitialCondit_od;
21532
21533 /* Start for RateTransition: '<S136>/Rate Transition' */
21534 dx_hand_model_B.RateTransition_k4 =
21535 dx_hand_model_P.RateTransition_InitialCondit_fm;
21536
21537 /* Start for RateTransition: '<S125>/Rate Transition' */
21538 dx_hand_model_B.RateTransition_em =
21539 dx_hand_model_P.RateTransition_InitialCondit_kt;
21540
21541 /* Start for MATLABSystem: '<S125>/Get Parameter3' */
21542 dx_hand_model_DW.obj_ej.isInitialized = 0;
21543 dx_hand_model_DW.objisempty_mh = true;
21544 dx_hand_model_DW.obj_ej.SampleTime = dx_hand_model_P.update_param;
21545 dx_hand_model_DW.obj_ej.isInitialized = 1;
21546 for (i = 0; i < 27; i++) {
21547 dx_hand_model_B.cv10[i] = tmp_27[i];
21548 }
21549
21550 dx_hand_model_B.cv10[27] = '\x00';
21551 ParamGet_dx_hand_model_4895.initialize(dx_hand_model_B.cv10);
21552 ParamGet_dx_hand_model_4895.initialize_error_codes(0U, 1U, 2U, 3U);
21553 ParamGet_dx_hand_model_4895.set_initial_value
21554 (dx_ha_ParameterInitialValue_kfa);
21555
21556 /* End of Start for MATLABSystem: '<S125>/Get Parameter3' */
21557
21558 /* Start for MATLABSystem: '<S126>/Get Parameter3' */
21559 dx_hand_model_DW.obj_hxt.isInitialized = 0;
21560 dx_hand_model_DW.objisempty_iyn = true;
21561 dx_hand_model_DW.obj_hxt.SampleTime = dx_hand_model_P.update_param;
21562 dx_hand_model_DW.obj_hxt.isInitialized = 1;
21563 for (i = 0; i < 26; i++) {
21564 dx_hand_model_B.cv11[i] = tmp_26[i];
21565 }
21566
21567 dx_hand_model_B.cv11[26] = '\x00';
21568 ParamGet_dx_hand_model_4579.initialize(dx_hand_model_B.cv11);
21569 ParamGet_dx_hand_model_4579.initialize_error_codes(0U, 1U, 2U, 3U);
21570 ParamGet_dx_hand_model_4579.set_initial_value
21571 (dx_hand_ParameterInitialValue_k);
21572
21573 /* End of Start for MATLABSystem: '<S126>/Get Parameter3' */
21574
21575 /* Start for MATLABSystem: '<S139>/Set Parameter' */
21576 dx_hand_model_DW.obj_lk.isInitialized = 0;
21577 dx_hand_model_DW.objisempty_dr = true;
21578 dx_hand_model_DW.obj_lk.isInitialized = 1;
21579 for (i = 0; i < 31; i++) {
21580 dx_hand_model_B.cv6[i] = tmp_25[i];
21581 }
21582
21583 dx_hand_model_B.cv6[31] = '\x00';
21584 ParamSet_dx_hand_model_4620.initialize(dx_hand_model_B.cv6);
21585
21586 /* End of Start for MATLABSystem: '<S139>/Set Parameter' */
21587
21588 /* Start for MATLABSystem: '<S139>/Get Parameter3' */
21589 dx_hand_model_DW.obj_lmh.isInitialized = 0;
21590 dx_hand_model_DW.objisempty_lm = true;
21591 dx_hand_model_DW.obj_lmh.SampleTime = dx_hand_model_P.update_param;
21592 dx_hand_model_DW.obj_lmh.isInitialized = 1;
21593 for (i = 0; i < 31; i++) {
21594 dx_hand_model_B.cv6[i] = tmp_24[i];
21595 }
21596
21597 dx_hand_model_B.cv6[31] = '\x00';
21598 ParamGet_dx_hand_model_4616.initialize(dx_hand_model_B.cv6);
21599 ParamGet_dx_hand_model_4616.initialize_error_codes(0U, 1U, 2U, 3U);
21600 ParamGet_dx_hand_model_4616.set_initial_value
21601 (ParameterInitialValu_kfaixs2xtf);
21602
21603 /* End of Start for MATLABSystem: '<S139>/Get Parameter3' */
21604
21605 /* Start for MATLABSystem: '<S146>/Get Parameter' */
21606 dx_hand_model_DW.obj_ee.isInitialized = 0;
21607 dx_hand_model_DW.objisempty_gm = true;
21608 dx_hand_model_DW.obj_ee.SampleTime = dx_hand_model_P.update_param;
21609 dx_hand_model_DW.obj_ee.isInitialized = 1;
21610 for (i = 0; i < 20; i++) {
21611 dx_hand_model_B.cv16[i] = tmp_23[i];
21612 }
21613
21614 dx_hand_model_B.cv16[20] = '\x00';
21615 ParamGet_dx_hand_model_4640.initialize(dx_hand_model_B.cv16);
21616 ParamGet_dx_hand_model_4640.initialize_error_codes(0U, 1U, 2U, 3U);
21617 ParamGet_dx_hand_model_4640.set_initial_value
21618 (dx_hand_m_ParameterInitialValue);
21619
21620 /* End of Start for MATLABSystem: '<S146>/Get Parameter' */
21621
21622 /* Start for MATLABSystem: '<S146>/Get Parameter1' */
21623 dx_hand_model_DW.obj_ny.isInitialized = 0;
21624 dx_hand_model_DW.objisempty_iy = true;
21625 dx_hand_model_DW.obj_ny.SampleTime = dx_hand_model_P.update_param;
21626 dx_hand_model_DW.obj_ny.isInitialized = 1;
21627 for (i = 0; i < 20; i++) {
21628 dx_hand_model_B.cv16[i] = tmp_22[i];
21629 }
21630
21631 dx_hand_model_B.cv16[20] = '\x00';
21632 ParamGet_dx_hand_model_4641.initialize(dx_hand_model_B.cv16);
21633 ParamGet_dx_hand_model_4641.initialize_error_codes(0U, 1U, 2U, 3U);
21634 ParamGet_dx_hand_model_4641.set_initial_value
21635 (ParameterInitialV_kfaixs2xtfarg);
21636
21637 /* End of Start for MATLABSystem: '<S146>/Get Parameter1' */
21638
21639 /* Start for MATLABSystem: '<S146>/Get Parameter2' */
21640 dx_hand_model_DW.obj_jl.isInitialized = 0;
21641 dx_hand_model_DW.objisempty_hi = true;
21642 dx_hand_model_DW.obj_jl.SampleTime = dx_hand_model_P.update_param;
21643 dx_hand_model_DW.obj_jl.isInitialized = 1;
21644 for (i = 0; i < 22; i++) {
21645 dx_hand_model_B.cv14[i] = tmp_21[i];
21646 }
21647
21648 dx_hand_model_B.cv14[22] = '\x00';
21649 ParamGet_dx_hand_model_4642.initialize(dx_hand_model_B.cv14);
21650 ParamGet_dx_hand_model_4642.initialize_error_codes(0U, 1U, 2U, 3U);
21651 ParamGet_dx_hand_model_4642.set_initial_value
21652 (ParameterInitialVa_kfaixs2xtfar);
21653
21654 /* End of Start for MATLABSystem: '<S146>/Get Parameter2' */
21655
21656 /* Start for MATLABSystem: '<S146>/Get Parameter3' */
21657 dx_hand_model_DW.obj_bu.isInitialized = 0;
21658 dx_hand_model_DW.objisempty_cw = true;
21659 dx_hand_model_DW.obj_bu.SampleTime = dx_hand_model_P.update_param;
21660 dx_hand_model_DW.obj_bu.isInitialized = 1;
21661 for (i = 0; i < 17; i++) {
21662 dx_hand_model_B.cv19[i] = tmp_20[i];
21663 }
21664
21665 dx_hand_model_B.cv19[17] = '\x00';
21666 ParamGet_dx_hand_model_4643.initialize(dx_hand_model_B.cv19);
21667 ParamGet_dx_hand_model_4643.initialize_error_codes(0U, 1U, 2U, 3U);
21668 ParamGet_dx_hand_model_4643.set_initial_value
21669 (ParameterInitialVal_kfaixs2xtfa);
21670
21671 /* End of Start for MATLABSystem: '<S146>/Get Parameter3' */
21672
21673 /* Start for MATLABSystem: '<S146>/Get Parameter4' */
21674 dx_hand_model_DW.obj_dc.isInitialized = 0;
21675 dx_hand_model_DW.objisempty_ae = true;
21676 dx_hand_model_DW.obj_dc.SampleTime = dx_hand_model_P.update_param;
21677 dx_hand_model_DW.obj_dc.isInitialized = 1;
21678 for (i = 0; i < 20; i++) {
21679 dx_hand_model_B.cv16[i] = tmp_1z[i];
21680 }
21681
21682 dx_hand_model_B.cv16[20] = '\x00';
21683 ParamGet_dx_hand_model_4644.initialize(dx_hand_model_B.cv16);
21684 ParamGet_dx_hand_model_4644.initialize_error_codes(0U, 1U, 2U, 3U);
21685 ParamGet_dx_hand_model_4644.set_initial_value
21686 (dx_hand_m_ParameterInitialValue);
21687
21688 /* End of Start for MATLABSystem: '<S146>/Get Parameter4' */
21689
21690 /* Start for MATLABSystem: '<S153>/Get Parameter3' */
21691 dx_hand_model_DW.obj_lm.isInitialized = 0;
21692 dx_hand_model_DW.objisempty_n0 = true;
21693 dx_hand_model_DW.obj_lm.SampleTime = dx_hand_model_P.update_param;
21694 dx_hand_model_DW.obj_lm.isInitialized = 1;
21695 for (i = 0; i < 28; i++) {
21696 dx_hand_model_B.cv9[i] = tmp_1y[i];
21697 }
21698
21699 dx_hand_model_B.cv9[28] = '\x00';
21700 ParamGet_dx_hand_model_4700.initialize(dx_hand_model_B.cv9);
21701 ParamGet_dx_hand_model_4700.initialize_error_codes(0U, 1U, 2U, 3U);
21702 ParamGet_dx_hand_model_4700.set_initial_value
21703 (ParameterInitial_kfaixs2xtfargw);
21704
21705 /* End of Start for MATLABSystem: '<S153>/Get Parameter3' */
21706
21707 /* Start for MATLABSystem: '<S154>/Get Parameter3' */
21708 dx_hand_model_DW.obj_ov.isInitialized = 0;
21709 dx_hand_model_DW.objisempty_l2 = true;
21710 dx_hand_model_DW.obj_ov.SampleTime = dx_hand_model_P.update_param;
21711 dx_hand_model_DW.obj_ov.isInitialized = 1;
21712 for (i = 0; i < 28; i++) {
21713 dx_hand_model_B.cv9[i] = tmp_1x[i];
21714 }
21715
21716 dx_hand_model_B.cv9[28] = '\x00';
21717 ParamGet_dx_hand_model_4710.initialize(dx_hand_model_B.cv9);
21718 ParamGet_dx_hand_model_4710.initialize_error_codes(0U, 1U, 2U, 3U);
21719 ParamGet_dx_hand_model_4710.set_initial_value
21720 (dx_han_ParameterInitialValue_kf);
21721
21722 /* End of Start for MATLABSystem: '<S154>/Get Parameter3' */
21723
21724 /* Start for MATLABSystem: '<S152>/Get Parameter3' */
21725 dx_hand_model_DW.obj_mz4.isInitialized = 0;
21726 dx_hand_model_DW.objisempty_ct = true;
21727 dx_hand_model_DW.obj_mz4.SampleTime = dx_hand_model_P.update_param;
21728 dx_hand_model_DW.obj_mz4.isInitialized = 1;
21729 for (i = 0; i < 30; i++) {
21730 dx_hand_model_B.cv7[i] = tmp_1w[i];
21731 }
21732
21733 dx_hand_model_B.cv7[30] = '\x00';
21734 ParamGet_dx_hand_model_4720.initialize(dx_hand_model_B.cv7);
21735 ParamGet_dx_hand_model_4720.initialize_error_codes(0U, 1U, 2U, 3U);
21736 ParamGet_dx_hand_model_4720.set_initial_value
21737 (dx_ha_ParameterInitialValue_kfa);
21738
21739 /* End of Start for MATLABSystem: '<S152>/Get Parameter3' */
21740
21741 /* Start for MATLABSystem: '<S161>/Get Parameter3' */
21742 dx_hand_model_DW.obj_dd.isInitialized = 0;
21743 dx_hand_model_DW.objisempty_cm = true;
21744 dx_hand_model_DW.obj_dd.SampleTime = dx_hand_model_P.update_param;
21745 dx_hand_model_DW.obj_dd.isInitialized = 1;
21746 for (i = 0; i < 30; i++) {
21747 dx_hand_model_B.cv7[i] = tmp_1v[i];
21748 }
21749
21750 dx_hand_model_B.cv7[30] = '\x00';
21751 ParamGet_dx_hand_model_4743.initialize(dx_hand_model_B.cv7);
21752 ParamGet_dx_hand_model_4743.initialize_error_codes(0U, 1U, 2U, 3U);
21753 ParamGet_dx_hand_model_4743.set_initial_value
21754 (dx_hand_ParameterInitialValue_k);
21755
21756 /* End of Start for MATLABSystem: '<S161>/Get Parameter3' */
21757
21758 /* Start for MATLABSystem: '<S162>/Get Parameter3' */
21759 dx_hand_model_DW.obj_mz.isInitialized = 0;
21760 dx_hand_model_DW.objisempty_e0 = true;
21761 dx_hand_model_DW.obj_mz.SampleTime = dx_hand_model_P.update_param;
21762 dx_hand_model_DW.obj_mz.isInitialized = 1;
21763 for (i = 0; i < 36; i++) {
21764 dx_hand_model_B.cv1[i] = tmp_1u[i];
21765 }
21766
21767 dx_hand_model_B.cv1[36] = '\x00';
21768 ParamGet_dx_hand_model_4758.initialize(dx_hand_model_B.cv1);
21769 ParamGet_dx_hand_model_4758.initialize_error_codes(0U, 1U, 2U, 3U);
21770 ParamGet_dx_hand_model_4758.set_initial_value
21771 (dx_ha_ParameterInitialValue_kfa);
21772
21773 /* End of Start for MATLABSystem: '<S162>/Get Parameter3' */
21774
21775 /* Start for MATLABSystem: '<S163>/Get Parameter3' */
21776 dx_hand_model_DW.obj_ob.isInitialized = 0;
21777 dx_hand_model_DW.objisempty_gz = true;
21778 dx_hand_model_DW.obj_ob.SampleTime = dx_hand_model_P.update_param;
21779 dx_hand_model_DW.obj_ob.isInitialized = 1;
21780 for (i = 0; i < 35; i++) {
21781 dx_hand_model_B.cv2[i] = tmp_1t[i];
21782 }
21783
21784 dx_hand_model_B.cv2[35] = '\x00';
21785 ParamGet_dx_hand_model_4766.initialize(dx_hand_model_B.cv2);
21786 ParamGet_dx_hand_model_4766.initialize_error_codes(0U, 1U, 2U, 3U);
21787 ParamGet_dx_hand_model_4766.set_initial_value
21788 (dx_ha_ParameterInitialValue_kfa);
21789
21790 /* End of Start for MATLABSystem: '<S163>/Get Parameter3' */
21791
21792 /* Start for MATLABSystem: '<S164>/Get Parameter3' */
21793 dx_hand_model_DW.obj_c4.isInitialized = 0;
21794 dx_hand_model_DW.objisempty_p1 = true;
21795 dx_hand_model_DW.obj_c4.SampleTime = dx_hand_model_P.update_param;
21796 dx_hand_model_DW.obj_c4.isInitialized = 1;
21797 for (i = 0; i < 29; i++) {
21798 dx_hand_model_B.cv8[i] = tmp_1s[i];
21799 }
21800
21801 dx_hand_model_B.cv8[29] = '\x00';
21802 ParamGet_dx_hand_model_4773.initialize(dx_hand_model_B.cv8);
21803 ParamGet_dx_hand_model_4773.initialize_error_codes(0U, 1U, 2U, 3U);
21804 ParamGet_dx_hand_model_4773.set_initial_value(ParameterInitialValue_kfaixs2x);
21805
21806 /* End of Start for MATLABSystem: '<S164>/Get Parameter3' */
21807
21808 /* Start for MATLABSystem: '<S165>/Get Parameter3' */
21809 dx_hand_model_DW.obj_ae.isInitialized = 0;
21810 dx_hand_model_DW.objisempty_b4 = true;
21811 dx_hand_model_DW.obj_ae.SampleTime = dx_hand_model_P.update_param;
21812 dx_hand_model_DW.obj_ae.isInitialized = 1;
21813 for (i = 0; i < 29; i++) {
21814 dx_hand_model_B.cv8[i] = tmp_1r[i];
21815 }
21816
21817 dx_hand_model_B.cv8[29] = '\x00';
21818 ParamGet_dx_hand_model_4780.initialize(dx_hand_model_B.cv8);
21819 ParamGet_dx_hand_model_4780.initialize_error_codes(0U, 1U, 2U, 3U);
21820 ParamGet_dx_hand_model_4780.set_initial_value
21821 (ParameterInitialValue_kfaixs2xt);
21822
21823 /* End of Start for MATLABSystem: '<S165>/Get Parameter3' */
21824
21825 /* Start for MATLABSystem: '<S166>/Get Parameter3' */
21826 dx_hand_model_DW.obj_e4.isInitialized = 0;
21827 dx_hand_model_DW.objisempty_ij = true;
21828 dx_hand_model_DW.obj_e4.SampleTime = dx_hand_model_P.update_param;
21829 dx_hand_model_DW.obj_e4.isInitialized = 1;
21830 for (i = 0; i < 29; i++) {
21831 dx_hand_model_B.cv8[i] = tmp_1q[i];
21832 }
21833
21834 dx_hand_model_B.cv8[29] = '\x00';
21835 ParamGet_dx_hand_model_4787.initialize(dx_hand_model_B.cv8);
21836 ParamGet_dx_hand_model_4787.initialize_error_codes(0U, 1U, 2U, 3U);
21837 ParamGet_dx_hand_model_4787.set_initial_value
21838 (dx_hand_m_ParameterInitialValue);
21839
21840 /* End of Start for MATLABSystem: '<S166>/Get Parameter3' */
21841
21842 /* Start for MATLABSystem: '<S167>/Get Parameter3' */
21843 dx_hand_model_DW.obj_dg.isInitialized = 0;
21844 dx_hand_model_DW.objisempty_il = true;
21845 dx_hand_model_DW.obj_dg.SampleTime = dx_hand_model_P.update_param;
21846 dx_hand_model_DW.obj_dg.isInitialized = 1;
21847 for (i = 0; i < 29; i++) {
21848 dx_hand_model_B.cv8[i] = tmp_1p[i];
21849 }
21850
21851 dx_hand_model_B.cv8[29] = '\x00';
21852 ParamGet_dx_hand_model_4794.initialize(dx_hand_model_B.cv8);
21853 ParamGet_dx_hand_model_4794.initialize_error_codes(0U, 1U, 2U, 3U);
21854 ParamGet_dx_hand_model_4794.set_initial_value
21855 (dx_hand_m_ParameterInitialValue);
21856
21857 /* End of Start for MATLABSystem: '<S167>/Get Parameter3' */
21858
21859 /* Start for MATLABSystem: '<S131>/Get Parameter3' */
21860 dx_hand_model_DW.obj_kw.isInitialized = 0;
21861 dx_hand_model_DW.objisempty_mm = true;
21862 dx_hand_model_DW.obj_kw.SampleTime = dx_hand_model_P.update_param;
21863 dx_hand_model_DW.obj_kw.isInitialized = 1;
21864 for (i = 0; i < 19; i++) {
21865 dx_hand_model_B.cv17[i] = tmp_1o[i];
21866 }
21867
21868 dx_hand_model_B.cv17[19] = '\x00';
21869 ParamGet_dx_hand_model_4804.initialize(dx_hand_model_B.cv17);
21870 ParamGet_dx_hand_model_4804.initialize_error_codes(0U, 1U, 2U, 3U);
21871 ParamGet_dx_hand_model_4804.set_initial_value
21872 (dx_hand_ParameterInitialValue_k);
21873
21874 /* End of Start for MATLABSystem: '<S131>/Get Parameter3' */
21875
21876 /* Start for MATLABSystem: '<S134>/Get Parameter3' */
21877 dx_hand_model_DW.obj_hl.isInitialized = 0;
21878 dx_hand_model_DW.objisempty_nd = true;
21879 dx_hand_model_DW.obj_hl.SampleTime = dx_hand_model_P.update_param;
21880 dx_hand_model_DW.obj_hl.isInitialized = 1;
21881 for (i = 0; i < 33; i++) {
21882 dx_hand_model_B.cv4[i] = tmp_1n[i];
21883 }
21884
21885 dx_hand_model_B.cv4[33] = '\x00';
21886 ParamGet_dx_hand_model_4815.initialize(dx_hand_model_B.cv4);
21887 ParamGet_dx_hand_model_4815.initialize_error_codes(0U, 1U, 2U, 3U);
21888 ParamGet_dx_hand_model_4815.set_initial_value
21889 (dx_hand_ParameterInitialValue_k);
21890
21891 /* End of Start for MATLABSystem: '<S134>/Get Parameter3' */
21892
21893 /* Start for MATLABSystem: '<S135>/Get Parameter3' */
21894 dx_hand_model_DW.obj_dy.isInitialized = 0;
21895 dx_hand_model_DW.objisempty_mz = true;
21896 dx_hand_model_DW.obj_dy.SampleTime = dx_hand_model_P.update_param;
21897 dx_hand_model_DW.obj_dy.isInitialized = 1;
21898 for (i = 0; i < 33; i++) {
21899 dx_hand_model_B.cv4[i] = tmp_1m[i];
21900 }
21901
21902 dx_hand_model_B.cv4[33] = '\x00';
21903 ParamGet_dx_hand_model_4822.initialize(dx_hand_model_B.cv4);
21904 ParamGet_dx_hand_model_4822.initialize_error_codes(0U, 1U, 2U, 3U);
21905 ParamGet_dx_hand_model_4822.set_initial_value
21906 (dx_hand_ParameterInitialValue_k);
21907
21908 /* End of Start for MATLABSystem: '<S135>/Get Parameter3' */
21909
21910 /* Start for MATLABSystem: '<S136>/Get Parameter3' */
21911 dx_hand_model_DW.obj_gw.isInitialized = 0;
21912 dx_hand_model_DW.objisempty_ju = true;
21913 dx_hand_model_DW.obj_gw.SampleTime = dx_hand_model_P.update_param;
21914 dx_hand_model_DW.obj_gw.isInitialized = 1;
21915 for (i = 0; i < 31; i++) {
21916 dx_hand_model_B.cv6[i] = tmp_1l[i];
21917 }
21918
21919 dx_hand_model_B.cv6[31] = '\x00';
21920 ParamGet_dx_hand_model_4829.initialize(dx_hand_model_B.cv6);
21921 ParamGet_dx_hand_model_4829.initialize_error_codes(0U, 1U, 2U, 3U);
21922 ParamGet_dx_hand_model_4829.set_initial_value
21923 (dx_ha_ParameterInitialValue_kfa);
21924
21925 /* End of Start for MATLABSystem: '<S136>/Get Parameter3' */
21926
21927 /* Start for RateTransition: '<S169>/Rate Transition' */
21928 dx_hand_model_B.RateTransition_fh =
21929 dx_hand_model_P.RateTransition_InitialCondit_ia;
21930
21931 /* Start for MATLABSystem: '<S169>/Get Parameter3' */
21932 dx_hand_model_DW.obj_gb.isInitialized = 0;
21933 dx_hand_model_DW.objisempty_mi = true;
21934 dx_hand_model_DW.obj_gb.SampleTime = dx_hand_model_P.update_param;
21935 dx_hand_model_DW.obj_gb.isInitialized = 1;
21936 for (i = 0; i < 30; i++) {
21937 dx_hand_model_B.cv7[i] = tmp_1k[i];
21938 }
21939
21940 dx_hand_model_B.cv7[30] = '\x00';
21941 ParamGet_dx_hand_model_4879.initialize(dx_hand_model_B.cv7);
21942 ParamGet_dx_hand_model_4879.initialize_error_codes(0U, 1U, 2U, 3U);
21943 ParamGet_dx_hand_model_4879.set_initial_value
21944 (dx_hand_ParameterInitialValue_k);
21945
21946 /* End of Start for MATLABSystem: '<S169>/Get Parameter3' */
21947
21948 /* Start for RateTransition: '<S176>/Rate Transition' */
21949 dx_hand_model_B.RateTransition_nv =
21950 dx_hand_model_P.RateTransition_InitialCondit_lj;
21951
21952 /* Start for RateTransition: '<S184>/Rate Transition' */
21953 dx_hand_model_B.RateTransition_op =
21954 dx_hand_model_P.RateTransition_InitialCondit_fv;
21955
21956 /* Start for RateTransition: '<S173>/Rate Transition' */
21957 for (i = 0; i < 5; i++) {
21958 dx_hand_model_B.RateTransition_m0[i] =
21959 dx_hand_model_P.RateTransition_InitialCondit_dt;
21960 }
21961
21962 /* End of Start for RateTransition: '<S173>/Rate Transition' */
21963
21964 /* Start for RateTransition: '<S209>/Rate Transition' */
21965 dx_hand_model_B.RateTransition_p2 =
21966 dx_hand_model_P.RateTransition_InitialCondit_an;
21967
21968 /* Start for RateTransition: '<S179>/Rate Transition' */
21969 dx_hand_model_B.RateTransition_pk =
21970 dx_hand_model_P.RateTransition_InitialCondit_fs;
21971
21972 /* Start for RateTransition: '<S210>/Rate Transition' */
21973 dx_hand_model_B.RateTransition_no =
21974 dx_hand_model_P.RateTransition_InitialCondit_do;
21975
21976 /* Start for RateTransition: '<S180>/Rate Transition' */
21977 dx_hand_model_B.RateTransition_mi =
21978 dx_hand_model_P.RateTransition_InitialCondit_dw;
21979
21980 /* Start for RateTransition: '<S211>/Rate Transition' */
21981 dx_hand_model_B.RateTransition_c =
21982 dx_hand_model_P.RateTransition_InitialCondit_lr;
21983
21984 /* Start for RateTransition: '<S207>/Rate Transition' */
21985 dx_hand_model_B.RateTransition_cc =
21986 dx_hand_model_P.RateTransition_InitialCondit_gs;
21987
21988 /* Start for RateTransition: '<S212>/Rate Transition' */
21989 dx_hand_model_B.RateTransition_nc =
21990 dx_hand_model_P.RateTransition_InitialCondit_mz;
21991
21992 /* Start for RateTransition: '<S208>/Rate Transition' */
21993 dx_hand_model_B.RateTransition_jg =
21994 dx_hand_model_P.RateTransition_InitialCondit_gn;
21995
21996 /* Start for RateTransition: '<S206>/Rate Transition' */
21997 dx_hand_model_B.RateTransition_e5 =
21998 dx_hand_model_P.RateTransition_InitialCondit_ez;
21999
22000 /* Start for RateTransition: '<S171>/Rate Transition' */
22001 dx_hand_model_B.RateTransition_od =
22002 dx_hand_model_P.RateTransition_InitialCondit_g5;
22003
22004 /* Start for RateTransition: '<S199>/Rate Transition' */
22005 dx_hand_model_B.RateTransition_kg =
22006 dx_hand_model_P.RateTransition_InitialCondit_az;
22007
22008 /* Start for RateTransition: '<S198>/Rate Transition' */
22009 dx_hand_model_B.RateTransition_nm =
22010 dx_hand_model_P.RateTransition_InitialCondit_jy;
22011
22012 /* Start for RateTransition: '<S197>/Rate Transition' */
22013 dx_hand_model_B.RateTransition_cv =
22014 dx_hand_model_P.RateTransition_InitialCondit_fx;
22015
22016 /* Start for RateTransition: '<S181>/Rate Transition' */
22017 dx_hand_model_B.RateTransition_an =
22018 dx_hand_model_P.RateTransition_InitialCondi_hgr;
22019
22020 /* Start for RateTransition: '<S170>/Rate Transition' */
22021 dx_hand_model_B.RateTransition_is =
22022 dx_hand_model_P.RateTransition_InitialCondit_px;
22023
22024 /* Start for MATLABSystem: '<S170>/Get Parameter3' */
22025 dx_hand_model_DW.obj_ln.isInitialized = 0;
22026 dx_hand_model_DW.objisempty_cy = true;
22027 dx_hand_model_DW.obj_ln.SampleTime = dx_hand_model_P.update_param;
22028 dx_hand_model_DW.obj_ln.isInitialized = 1;
22029 for (i = 0; i < 26; i++) {
22030 dx_hand_model_B.cv11[i] = tmp_1j[i];
22031 }
22032
22033 dx_hand_model_B.cv11[26] = '\x00';
22034 ParamGet_dx_hand_model_4903.initialize(dx_hand_model_B.cv11);
22035 ParamGet_dx_hand_model_4903.initialize_error_codes(0U, 1U, 2U, 3U);
22036 ParamGet_dx_hand_model_4903.set_initial_value
22037 (dx_ha_ParameterInitialValue_kfa);
22038
22039 /* End of Start for MATLABSystem: '<S170>/Get Parameter3' */
22040
22041 /* Start for MATLABSystem: '<S171>/Get Parameter3' */
22042 dx_hand_model_DW.obj_a.isInitialized = 0;
22043 dx_hand_model_DW.objisempty_j5 = true;
22044 dx_hand_model_DW.obj_a.SampleTime = dx_hand_model_P.update_param;
22045 dx_hand_model_DW.obj_a.isInitialized = 1;
22046 for (i = 0; i < 25; i++) {
22047 dx_hand_model_B.cv12[i] = tmp_1i[i];
22048 }
22049
22050 dx_hand_model_B.cv12[25] = '\x00';
22051 ParamGet_dx_hand_model_4283.initialize(dx_hand_model_B.cv12);
22052 ParamGet_dx_hand_model_4283.initialize_error_codes(0U, 1U, 2U, 3U);
22053 ParamGet_dx_hand_model_4283.set_initial_value
22054 (dx_hand_ParameterInitialValue_k);
22055
22056 /* End of Start for MATLABSystem: '<S171>/Get Parameter3' */
22057
22058 /* Start for MATLABSystem: '<S184>/Set Parameter' */
22059 dx_hand_model_DW.obj_mo.isInitialized = 0;
22060 dx_hand_model_DW.objisempty_p0 = true;
22061 dx_hand_model_DW.obj_mo.isInitialized = 1;
22062 for (i = 0; i < 30; i++) {
22063 dx_hand_model_B.cv7[i] = tmp_1h[i];
22064 }
22065
22066 dx_hand_model_B.cv7[30] = '\x00';
22067 ParamSet_dx_hand_model_4323.initialize(dx_hand_model_B.cv7);
22068
22069 /* End of Start for MATLABSystem: '<S184>/Set Parameter' */
22070
22071 /* Start for MATLABSystem: '<S184>/Get Parameter3' */
22072 dx_hand_model_DW.obj_ja.isInitialized = 0;
22073 dx_hand_model_DW.objisempty_dd = true;
22074 dx_hand_model_DW.obj_ja.SampleTime = dx_hand_model_P.update_param;
22075 dx_hand_model_DW.obj_ja.isInitialized = 1;
22076 for (i = 0; i < 30; i++) {
22077 dx_hand_model_B.cv7[i] = tmp_1g[i];
22078 }
22079
22080 dx_hand_model_B.cv7[30] = '\x00';
22081 ParamGet_dx_hand_model_4319.initialize(dx_hand_model_B.cv7);
22082 ParamGet_dx_hand_model_4319.initialize_error_codes(0U, 1U, 2U, 3U);
22083 ParamGet_dx_hand_model_4319.set_initial_value
22084 (ParameterInitialValu_kfaixs2xtf);
22085
22086 /* End of Start for MATLABSystem: '<S184>/Get Parameter3' */
22087
22088 /* Start for MATLABSystem: '<S191>/Get Parameter' */
22089 dx_hand_model_DW.obj_he.isInitialized = 0;
22090 dx_hand_model_DW.objisempty_gq = true;
22091 dx_hand_model_DW.obj_he.SampleTime = dx_hand_model_P.update_param;
22092 dx_hand_model_DW.obj_he.isInitialized = 1;
22093 for (i = 0; i < 19; i++) {
22094 dx_hand_model_B.cv17[i] = tmp_1f[i];
22095 }
22096
22097 dx_hand_model_B.cv17[19] = '\x00';
22098 ParamGet_dx_hand_model_3254.initialize(dx_hand_model_B.cv17);
22099 ParamGet_dx_hand_model_3254.initialize_error_codes(0U, 1U, 2U, 3U);
22100 ParamGet_dx_hand_model_3254.set_initial_value
22101 (dx_hand_m_ParameterInitialValue);
22102
22103 /* End of Start for MATLABSystem: '<S191>/Get Parameter' */
22104
22105 /* Start for MATLABSystem: '<S191>/Get Parameter1' */
22106 dx_hand_model_DW.obj_nc.isInitialized = 0;
22107 dx_hand_model_DW.objisempty_co = true;
22108 dx_hand_model_DW.obj_nc.SampleTime = dx_hand_model_P.update_param;
22109 dx_hand_model_DW.obj_nc.isInitialized = 1;
22110 for (i = 0; i < 19; i++) {
22111 dx_hand_model_B.cv17[i] = tmp_1e[i];
22112 }
22113
22114 dx_hand_model_B.cv17[19] = '\x00';
22115 ParamGet_dx_hand_model_3255.initialize(dx_hand_model_B.cv17);
22116 ParamGet_dx_hand_model_3255.initialize_error_codes(0U, 1U, 2U, 3U);
22117 ParamGet_dx_hand_model_3255.set_initial_value
22118 (ParameterInitialV_kfaixs2xtfarg);
22119
22120 /* End of Start for MATLABSystem: '<S191>/Get Parameter1' */
22121
22122 /* Start for MATLABSystem: '<S191>/Get Parameter2' */
22123 dx_hand_model_DW.obj_l4.isInitialized = 0;
22124 dx_hand_model_DW.objisempty_hb = true;
22125 dx_hand_model_DW.obj_l4.SampleTime = dx_hand_model_P.update_param;
22126 dx_hand_model_DW.obj_l4.isInitialized = 1;
22127 for (i = 0; i < 21; i++) {
22128 dx_hand_model_B.cv15[i] = tmp_1d[i];
22129 }
22130
22131 dx_hand_model_B.cv15[21] = '\x00';
22132 ParamGet_dx_hand_model_3256.initialize(dx_hand_model_B.cv15);
22133 ParamGet_dx_hand_model_3256.initialize_error_codes(0U, 1U, 2U, 3U);
22134 ParamGet_dx_hand_model_3256.set_initial_value
22135 (ParameterInitialVa_kfaixs2xtfar);
22136
22137 /* End of Start for MATLABSystem: '<S191>/Get Parameter2' */
22138
22139 /* Start for MATLABSystem: '<S191>/Get Parameter3' */
22140 dx_hand_model_DW.obj_fy.isInitialized = 0;
22141 dx_hand_model_DW.objisempty_ot = true;
22142 dx_hand_model_DW.obj_fy.SampleTime = dx_hand_model_P.update_param;
22143 dx_hand_model_DW.obj_fy.isInitialized = 1;
22144 for (i = 0; i < 16; i++) {
22145 dx_hand_model_B.cv20[i] = tmp_1c[i];
22146 }
22147
22148 dx_hand_model_B.cv20[16] = '\x00';
22149 ParamGet_dx_hand_model_3257.initialize(dx_hand_model_B.cv20);
22150 ParamGet_dx_hand_model_3257.initialize_error_codes(0U, 1U, 2U, 3U);
22151 ParamGet_dx_hand_model_3257.set_initial_value
22152 (ParameterInitialVal_kfaixs2xtfa);
22153
22154 /* End of Start for MATLABSystem: '<S191>/Get Parameter3' */
22155
22156 /* Start for MATLABSystem: '<S191>/Get Parameter4' */
22157 dx_hand_model_DW.obj_od.isInitialized = 0;
22158 dx_hand_model_DW.objisempty_l3 = true;
22159 dx_hand_model_DW.obj_od.SampleTime = dx_hand_model_P.update_param;
22160 dx_hand_model_DW.obj_od.isInitialized = 1;
22161 for (i = 0; i < 19; i++) {
22162 dx_hand_model_B.cv17[i] = tmp_1b[i];
22163 }
22164
22165 dx_hand_model_B.cv17[19] = '\x00';
22166 ParamGet_dx_hand_model_3258.initialize(dx_hand_model_B.cv17);
22167 ParamGet_dx_hand_model_3258.initialize_error_codes(0U, 1U, 2U, 3U);
22168 ParamGet_dx_hand_model_3258.set_initial_value
22169 (dx_hand_m_ParameterInitialValue);
22170
22171 /* End of Start for MATLABSystem: '<S191>/Get Parameter4' */
22172
22173 /* Start for MATLABSystem: '<S198>/Get Parameter3' */
22174 dx_hand_model_DW.obj_oyi.isInitialized = 0;
22175 dx_hand_model_DW.objisempty_lb = true;
22176 dx_hand_model_DW.obj_oyi.SampleTime = dx_hand_model_P.update_param;
22177 dx_hand_model_DW.obj_oyi.isInitialized = 1;
22178 for (i = 0; i < 27; i++) {
22179 dx_hand_model_B.cv10[i] = tmp_1a[i];
22180 }
22181
22182 dx_hand_model_B.cv10[27] = '\x00';
22183 ParamGet_dx_hand_model_4414.initialize(dx_hand_model_B.cv10);
22184 ParamGet_dx_hand_model_4414.initialize_error_codes(0U, 1U, 2U, 3U);
22185 ParamGet_dx_hand_model_4414.set_initial_value
22186 (ParameterInitial_kfaixs2xtfargw);
22187
22188 /* End of Start for MATLABSystem: '<S198>/Get Parameter3' */
22189
22190 /* Start for MATLABSystem: '<S199>/Get Parameter3' */
22191 dx_hand_model_DW.obj_pt.isInitialized = 0;
22192 dx_hand_model_DW.objisempty_j3 = true;
22193 dx_hand_model_DW.obj_pt.SampleTime = dx_hand_model_P.update_param;
22194 dx_hand_model_DW.obj_pt.isInitialized = 1;
22195 for (i = 0; i < 27; i++) {
22196 dx_hand_model_B.cv10[i] = tmp_19[i];
22197 }
22198
22199 dx_hand_model_B.cv10[27] = '\x00';
22200 ParamGet_dx_hand_model_4424.initialize(dx_hand_model_B.cv10);
22201 ParamGet_dx_hand_model_4424.initialize_error_codes(0U, 1U, 2U, 3U);
22202 ParamGet_dx_hand_model_4424.set_initial_value
22203 (dx_han_ParameterInitialValue_kf);
22204
22205 /* End of Start for MATLABSystem: '<S199>/Get Parameter3' */
22206
22207 /* Start for MATLABSystem: '<S197>/Get Parameter3' */
22208 dx_hand_model_DW.obj_pap.isInitialized = 0;
22209 dx_hand_model_DW.objisempty_km = true;
22210 dx_hand_model_DW.obj_pap.SampleTime = dx_hand_model_P.update_param;
22211 dx_hand_model_DW.obj_pap.isInitialized = 1;
22212 for (i = 0; i < 29; i++) {
22213 dx_hand_model_B.cv8[i] = tmp_18[i];
22214 }
22215
22216 dx_hand_model_B.cv8[29] = '\x00';
22217 ParamGet_dx_hand_model_4434.initialize(dx_hand_model_B.cv8);
22218 ParamGet_dx_hand_model_4434.initialize_error_codes(0U, 1U, 2U, 3U);
22219 ParamGet_dx_hand_model_4434.set_initial_value
22220 (dx_ha_ParameterInitialValue_kfa);
22221
22222 /* End of Start for MATLABSystem: '<S197>/Get Parameter3' */
22223
22224 /* Start for MATLABSystem: '<S206>/Get Parameter3' */
22225 dx_hand_model_DW.obj_mm.isInitialized = 0;
22226 dx_hand_model_DW.objisempty_mu = true;
22227 dx_hand_model_DW.obj_mm.SampleTime = dx_hand_model_P.update_param;
22228 dx_hand_model_DW.obj_mm.isInitialized = 1;
22229 for (i = 0; i < 29; i++) {
22230 dx_hand_model_B.cv8[i] = tmp_17[i];
22231 }
22232
22233 dx_hand_model_B.cv8[29] = '\x00';
22234 ParamGet_dx_hand_model_4457.initialize(dx_hand_model_B.cv8);
22235 ParamGet_dx_hand_model_4457.initialize_error_codes(0U, 1U, 2U, 3U);
22236 ParamGet_dx_hand_model_4457.set_initial_value
22237 (dx_hand_ParameterInitialValue_k);
22238
22239 /* End of Start for MATLABSystem: '<S206>/Get Parameter3' */
22240
22241 /* Start for MATLABSystem: '<S207>/Get Parameter3' */
22242 dx_hand_model_DW.obj_hx.isInitialized = 0;
22243 dx_hand_model_DW.objisempty_g2 = true;
22244 dx_hand_model_DW.obj_hx.SampleTime = dx_hand_model_P.update_param;
22245 dx_hand_model_DW.obj_hx.isInitialized = 1;
22246 for (i = 0; i < 35; i++) {
22247 dx_hand_model_B.cv2[i] = tmp_16[i];
22248 }
22249
22250 dx_hand_model_B.cv2[35] = '\x00';
22251 ParamGet_dx_hand_model_4472.initialize(dx_hand_model_B.cv2);
22252 ParamGet_dx_hand_model_4472.initialize_error_codes(0U, 1U, 2U, 3U);
22253 ParamGet_dx_hand_model_4472.set_initial_value
22254 (dx_ha_ParameterInitialValue_kfa);
22255
22256 /* End of Start for MATLABSystem: '<S207>/Get Parameter3' */
22257
22258 /* Start for MATLABSystem: '<S208>/Get Parameter3' */
22259 dx_hand_model_DW.obj_gt.isInitialized = 0;
22260 dx_hand_model_DW.objisempty_ay = true;
22261 dx_hand_model_DW.obj_gt.SampleTime = dx_hand_model_P.update_param;
22262 dx_hand_model_DW.obj_gt.isInitialized = 1;
22263 for (i = 0; i < 34; i++) {
22264 dx_hand_model_B.cv3[i] = tmp_15[i];
22265 }
22266
22267 dx_hand_model_B.cv3[34] = '\x00';
22268 ParamGet_dx_hand_model_4480.initialize(dx_hand_model_B.cv3);
22269 ParamGet_dx_hand_model_4480.initialize_error_codes(0U, 1U, 2U, 3U);
22270 ParamGet_dx_hand_model_4480.set_initial_value
22271 (dx_ha_ParameterInitialValue_kfa);
22272
22273 /* End of Start for MATLABSystem: '<S208>/Get Parameter3' */
22274
22275 /* Start for MATLABSystem: '<S209>/Get Parameter3' */
22276 dx_hand_model_DW.obj_oy.isInitialized = 0;
22277 dx_hand_model_DW.objisempty_bt = true;
22278 dx_hand_model_DW.obj_oy.SampleTime = dx_hand_model_P.update_param;
22279 dx_hand_model_DW.obj_oy.isInitialized = 1;
22280 for (i = 0; i < 28; i++) {
22281 dx_hand_model_B.cv9[i] = tmp_14[i];
22282 }
22283
22284 dx_hand_model_B.cv9[28] = '\x00';
22285 ParamGet_dx_hand_model_4487.initialize(dx_hand_model_B.cv9);
22286 ParamGet_dx_hand_model_4487.initialize_error_codes(0U, 1U, 2U, 3U);
22287 ParamGet_dx_hand_model_4487.set_initial_value(ParameterInitialValue_kfaixs2x);
22288
22289 /* End of Start for MATLABSystem: '<S209>/Get Parameter3' */
22290
22291 /* Start for MATLABSystem: '<S210>/Get Parameter3' */
22292 dx_hand_model_DW.obj_cy.isInitialized = 0;
22293 dx_hand_model_DW.objisempty_d1 = true;
22294 dx_hand_model_DW.obj_cy.SampleTime = dx_hand_model_P.update_param;
22295 dx_hand_model_DW.obj_cy.isInitialized = 1;
22296 for (i = 0; i < 28; i++) {
22297 dx_hand_model_B.cv9[i] = tmp_13[i];
22298 }
22299
22300 dx_hand_model_B.cv9[28] = '\x00';
22301 ParamGet_dx_hand_model_4494.initialize(dx_hand_model_B.cv9);
22302 ParamGet_dx_hand_model_4494.initialize_error_codes(0U, 1U, 2U, 3U);
22303 ParamGet_dx_hand_model_4494.set_initial_value
22304 (ParameterInitialValue_kfaixs2xt);
22305
22306 /* End of Start for MATLABSystem: '<S210>/Get Parameter3' */
22307
22308 /* Start for MATLABSystem: '<S211>/Get Parameter3' */
22309 dx_hand_model_DW.obj_of.isInitialized = 0;
22310 dx_hand_model_DW.objisempty_ca = true;
22311 dx_hand_model_DW.obj_of.SampleTime = dx_hand_model_P.update_param;
22312 dx_hand_model_DW.obj_of.isInitialized = 1;
22313 for (i = 0; i < 28; i++) {
22314 dx_hand_model_B.cv9[i] = tmp_12[i];
22315 }
22316
22317 dx_hand_model_B.cv9[28] = '\x00';
22318 ParamGet_dx_hand_model_4501.initialize(dx_hand_model_B.cv9);
22319 ParamGet_dx_hand_model_4501.initialize_error_codes(0U, 1U, 2U, 3U);
22320 ParamGet_dx_hand_model_4501.set_initial_value
22321 (dx_hand_m_ParameterInitialValue);
22322
22323 /* End of Start for MATLABSystem: '<S211>/Get Parameter3' */
22324
22325 /* Start for MATLABSystem: '<S212>/Get Parameter3' */
22326 dx_hand_model_DW.obj_lu.isInitialized = 0;
22327 dx_hand_model_DW.objisempty_ns = true;
22328 dx_hand_model_DW.obj_lu.SampleTime = dx_hand_model_P.update_param;
22329 dx_hand_model_DW.obj_lu.isInitialized = 1;
22330 for (i = 0; i < 28; i++) {
22331 dx_hand_model_B.cv9[i] = tmp_11[i];
22332 }
22333
22334 dx_hand_model_B.cv9[28] = '\x00';
22335 ParamGet_dx_hand_model_4508.initialize(dx_hand_model_B.cv9);
22336 ParamGet_dx_hand_model_4508.initialize_error_codes(0U, 1U, 2U, 3U);
22337 ParamGet_dx_hand_model_4508.set_initial_value
22338 (dx_hand_m_ParameterInitialValue);
22339
22340 /* End of Start for MATLABSystem: '<S212>/Get Parameter3' */
22341
22342 /* Start for MATLABSystem: '<S176>/Get Parameter3' */
22343 dx_hand_model_DW.obj_m0.isInitialized = 0;
22344 dx_hand_model_DW.objisempty_ii = true;
22345 dx_hand_model_DW.obj_m0.SampleTime = dx_hand_model_P.update_param;
22346 dx_hand_model_DW.obj_m0.isInitialized = 1;
22347 for (i = 0; i < 18; i++) {
22348 dx_hand_model_B.cv18[i] = tmp_10[i];
22349 }
22350
22351 dx_hand_model_B.cv18[18] = '\x00';
22352 ParamGet_dx_hand_model_4518.initialize(dx_hand_model_B.cv18);
22353 ParamGet_dx_hand_model_4518.initialize_error_codes(0U, 1U, 2U, 3U);
22354 ParamGet_dx_hand_model_4518.set_initial_value
22355 (dx_hand_ParameterInitialValue_k);
22356
22357 /* End of Start for MATLABSystem: '<S176>/Get Parameter3' */
22358
22359 /* Start for MATLABSystem: '<S179>/Get Parameter3' */
22360 dx_hand_model_DW.obj_hk.isInitialized = 0;
22361 dx_hand_model_DW.objisempty_nr = true;
22362 dx_hand_model_DW.obj_hk.SampleTime = dx_hand_model_P.update_param;
22363 dx_hand_model_DW.obj_hk.isInitialized = 1;
22364 for (i = 0; i < 32; i++) {
22365 dx_hand_model_B.cv5[i] = tmp_z[i];
22366 }
22367
22368 dx_hand_model_B.cv5[32] = '\x00';
22369 ParamGet_dx_hand_model_4529.initialize(dx_hand_model_B.cv5);
22370 ParamGet_dx_hand_model_4529.initialize_error_codes(0U, 1U, 2U, 3U);
22371 ParamGet_dx_hand_model_4529.set_initial_value
22372 (dx_hand_ParameterInitialValue_k);
22373
22374 /* End of Start for MATLABSystem: '<S179>/Get Parameter3' */
22375
22376 /* Start for MATLABSystem: '<S180>/Get Parameter3' */
22377 dx_hand_model_DW.obj_ly.isInitialized = 0;
22378 dx_hand_model_DW.objisempty_do = true;
22379 dx_hand_model_DW.obj_ly.SampleTime = dx_hand_model_P.update_param;
22380 dx_hand_model_DW.obj_ly.isInitialized = 1;
22381 for (i = 0; i < 32; i++) {
22382 dx_hand_model_B.cv5[i] = tmp_y[i];
22383 }
22384
22385 dx_hand_model_B.cv5[32] = '\x00';
22386 ParamGet_dx_hand_model_4536.initialize(dx_hand_model_B.cv5);
22387 ParamGet_dx_hand_model_4536.initialize_error_codes(0U, 1U, 2U, 3U);
22388 ParamGet_dx_hand_model_4536.set_initial_value
22389 (dx_hand_ParameterInitialValue_k);
22390
22391 /* End of Start for MATLABSystem: '<S180>/Get Parameter3' */
22392
22393 /* Start for MATLABSystem: '<S181>/Get Parameter3' */
22394 dx_hand_model_DW.obj_nr.isInitialized = 0;
22395 dx_hand_model_DW.objisempty_kt = true;
22396 dx_hand_model_DW.obj_nr.SampleTime = dx_hand_model_P.update_param;
22397 dx_hand_model_DW.obj_nr.isInitialized = 1;
22398 for (i = 0; i < 30; i++) {
22399 dx_hand_model_B.cv7[i] = tmp_x[i];
22400 }
22401
22402 dx_hand_model_B.cv7[30] = '\x00';
22403 ParamGet_dx_hand_model_4543.initialize(dx_hand_model_B.cv7);
22404 ParamGet_dx_hand_model_4543.initialize_error_codes(0U, 1U, 2U, 3U);
22405 ParamGet_dx_hand_model_4543.set_initial_value
22406 (dx_ha_ParameterInitialValue_kfa);
22407
22408 /* End of Start for MATLABSystem: '<S181>/Get Parameter3' */
22409
22410 /* Start for RateTransition: '<S279>/Rate Transition' */
22411 dx_hand_model_B.RateTransition_nk =
22412 dx_hand_model_P.RateTransition_InitialCondit_ch;
22413
22414 /* Start for RateTransition: '<S280>/Rate Transition' */
22415 dx_hand_model_B.RateTransition_mpf =
22416 dx_hand_model_P.RateTransition_InitialCondit_lb;
22417
22418 /* Start for RateTransition: '<S281>/Rate Transition' */
22419 dx_hand_model_B.RateTransition_ko =
22420 dx_hand_model_P.RateTransition_InitialCondit_es;
22421
22422 /* Start for RateTransition: '<S268>/Rate Transition' */
22423 dx_hand_model_B.RateTransition_k0 =
22424 dx_hand_model_P.RateTransition_InitialCondit_hc;
22425
22426 /* Start for RateTransition: '<S269>/Rate Transition' */
22427 dx_hand_model_B.RateTransition_db =
22428 dx_hand_model_P.RateTransition_InitialCondit_mq;
22429
22430 /* Start for RateTransition: '<S270>/Rate Transition' */
22431 dx_hand_model_B.RateTransition_p0 =
22432 dx_hand_model_P.RateTransition_InitialCondit_dv;
22433
22434 /* Start for RateTransition: '<S271>/Rate Transition' */
22435 dx_hand_model_B.RateTransition_g2 =
22436 dx_hand_model_P.RateTransition_InitialCondit_n3;
22437
22438 /* Start for RateTransition: '<S272>/Rate Transition' */
22439 dx_hand_model_B.RateTransition_ek =
22440 dx_hand_model_P.RateTransition_InitialCondit_ap;
22441
22442 /* Start for RateTransition: '<S282>/Rate Transition' */
22443 dx_hand_model_B.RateTransition_gi =
22444 dx_hand_model_P.RateTransition_InitialCondit_p1;
22445
22446 /* Start for RateTransition: '<S283>/Rate Transition' */
22447 dx_hand_model_B.RateTransition_nz =
22448 dx_hand_model_P.RateTransition_InitialCondit_hr;
22449
22450 /* Start for RateTransition: '<S285>/Rate Transition' */
22451 dx_hand_model_B.RateTransition_kl =
22452 dx_hand_model_P.RateTransition_InitialCondit_ab;
22453
22454 /* Start for RateTransition: '<S284>/Rate Transition' */
22455 dx_hand_model_B.RateTransition_jz =
22456 dx_hand_model_P.RateTransition_InitialCondit_kb;
22457
22458 /* Start for MATLABSystem: '<S240>/Set Parameter' */
22459 dx_hand_model_DW.obj_pb.isInitialized = 0;
22460 dx_hand_model_DW.objisempty_c = true;
22461 dx_hand_model_DW.obj_pb.isInitialized = 1;
22462 for (i = 0; i < 30; i++) {
22463 dx_hand_model_B.cv7[i] = tmp_w[i];
22464 }
22465
22466 dx_hand_model_B.cv7[30] = '\x00';
22467 ParamSet_dx_hand_model_4969.initialize(dx_hand_model_B.cv7);
22468
22469 /* End of Start for MATLABSystem: '<S240>/Set Parameter' */
22470
22471 /* Start for RateTransition: '<S314>/Rate Transition' */
22472 dx_hand_model_B.RateTransition_ap =
22473 dx_hand_model_P.RateTransition_InitialCondi_dfu;
22474
22475 /* Start for MATLABSystem: '<S314>/Get Parameter3' */
22476 dx_hand_model_DW.obj_l.isInitialized = 0;
22477 dx_hand_model_DW.objisempty_e = true;
22478 dx_hand_model_DW.obj_l.SampleTime = dx_hand_model_P.update_param;
22479 dx_hand_model_DW.obj_l.isInitialized = 1;
22480 for (i = 0; i < 26; i++) {
22481 dx_hand_model_B.cv11[i] = tmp_v[i];
22482 }
22483
22484 dx_hand_model_B.cv11[26] = '\x00';
22485 ParamGet_dx_hand_model_3810.initialize(dx_hand_model_B.cv11);
22486 ParamGet_dx_hand_model_3810.initialize_error_codes(0U, 1U, 2U, 3U);
22487 ParamGet_dx_hand_model_3810.set_initial_value(d_ParameterInitia_or);
22488
22489 /* End of Start for MATLABSystem: '<S314>/Get Parameter3' */
22490
22491 /* Start for MATLABSystem: '<S315>/Get Parameter3' */
22492 dx_hand_model_DW.obj.isInitialized = 0;
22493 dx_hand_model_DW.objisempty = true;
22494 dx_hand_model_DW.obj.SampleTime = dx_hand_model_P.update_param;
22495 dx_hand_model_DW.obj.isInitialized = 1;
22496 for (i = 0; i < 27; i++) {
22497 dx_hand_model_B.cv10[i] = tmp_u[i];
22498 }
22499
22500 dx_hand_model_B.cv10[27] = '\x00';
22501 ParamGet_dx_hand_model_3817.initialize(dx_hand_model_B.cv10);
22502 ParamGet_dx_hand_model_3817.initialize_error_codes(0U, 1U, 2U, 3U);
22503 ParamGet_dx_hand_model_3817.set_initial_value(d_ParameterInitia_p);
22504
22505 /* End of Start for MATLABSystem: '<S315>/Get Parameter3' */
22506
22507 /* Start for RateTransition: '<S266>/Rate Transition' */
22508 dx_hand_model_B.RateTransition_gb =
22509 dx_hand_model_P.RateTransition_InitialCondit_i5;
22510
22511 /* Start for MATLABSystem: '<S266>/Get Parameter3' */
22512 dx_hand_model_DW.obj_d.isInitialized = 0;
22513 dx_hand_model_DW.objisempty_m2 = true;
22514 dx_hand_model_DW.obj_d.SampleTime = dx_hand_model_P.update_param;
22515 dx_hand_model_DW.obj_d.isInitialized = 1;
22516 for (i = 0; i < 31; i++) {
22517 dx_hand_model_B.cv6[i] = tmp_t[i];
22518 }
22519
22520 dx_hand_model_B.cv6[31] = '\x00';
22521 ParamGet_dx_hand_model_4863.initialize(dx_hand_model_B.cv6);
22522 ParamGet_dx_hand_model_4863.initialize_error_codes(0U, 1U, 2U, 3U);
22523 ParamGet_dx_hand_model_4863.set_initial_value
22524 (dx_hand_ParameterInitialValue_k);
22525
22526 /* End of Start for MATLABSystem: '<S266>/Get Parameter3' */
22527
22528 /* Start for RateTransition: '<S267>/Rate Transition' */
22529 dx_hand_model_B.RateTransition_ko0 =
22530 dx_hand_model_P.RateTransition_InitialCondi_hjl;
22531
22532 /* Start for MATLABSystem: '<S267>/Get Parameter3' */
22533 dx_hand_model_DW.obj_jv.isInitialized = 0;
22534 dx_hand_model_DW.objisempty_gg = true;
22535 dx_hand_model_DW.obj_jv.SampleTime = dx_hand_model_P.update_param;
22536 dx_hand_model_DW.obj_jv.isInitialized = 1;
22537 for (i = 0; i < 23; i++) {
22538 dx_hand_model_B.cv13[i] = tmp_s[i];
22539 }
22540
22541 dx_hand_model_B.cv13[23] = '\x00';
22542 ParamGet_dx_hand_model_3828.initialize(dx_hand_model_B.cv13);
22543 ParamGet_dx_hand_model_3828.initialize_error_codes(0U, 1U, 2U, 3U);
22544 ParamGet_dx_hand_model_3828.set_initial_value(d_ParameterInitia_c);
22545
22546 /* End of Start for MATLABSystem: '<S267>/Get Parameter3' */
22547
22548 /* Start for MATLABSystem: '<S268>/Set Parameter' */
22549 dx_hand_model_DW.obj_b3.isInitialized = 0;
22550 dx_hand_model_DW.objisempty_iw = true;
22551 dx_hand_model_DW.obj_b3.isInitialized = 1;
22552 for (i = 0; i < 32; i++) {
22553 dx_hand_model_B.cv5[i] = tmp_r[i];
22554 }
22555
22556 dx_hand_model_B.cv5[32] = '\x00';
22557 ParamSet_dx_hand_model_2966.initialize(dx_hand_model_B.cv5);
22558
22559 /* End of Start for MATLABSystem: '<S268>/Set Parameter' */
22560
22561 /* Start for MATLABSystem: '<S268>/Get Parameter3' */
22562 dx_hand_model_DW.obj_mk.isInitialized = 0;
22563 dx_hand_model_DW.objisempty_k = true;
22564 dx_hand_model_DW.obj_mk.SampleTime = dx_hand_model_P.update_param;
22565 dx_hand_model_DW.obj_mk.isInitialized = 1;
22566 for (i = 0; i < 32; i++) {
22567 dx_hand_model_B.cv5[i] = tmp_q[i];
22568 }
22569
22570 dx_hand_model_B.cv5[32] = '\x00';
22571 ParamGet_dx_hand_model_2962.initialize(dx_hand_model_B.cv5);
22572 ParamGet_dx_hand_model_2962.initialize_error_codes(0U, 1U, 2U, 3U);
22573 ParamGet_dx_hand_model_2962.set_initial_value(d_ParameterInitia_g);
22574
22575 /* End of Start for MATLABSystem: '<S268>/Get Parameter3' */
22576
22577 /* Start for MATLABSystem: '<S269>/Set Parameter' */
22578 dx_hand_model_DW.obj_jq.isInitialized = 0;
22579 dx_hand_model_DW.objisempty_n = true;
22580 dx_hand_model_DW.obj_jq.isInitialized = 1;
22581 for (i = 0; i < 32; i++) {
22582 dx_hand_model_B.cv5[i] = tmp_p[i];
22583 }
22584
22585 dx_hand_model_B.cv5[32] = '\x00';
22586 ParamSet_dx_hand_model_3023.initialize(dx_hand_model_B.cv5);
22587
22588 /* End of Start for MATLABSystem: '<S269>/Set Parameter' */
22589
22590 /* Start for MATLABSystem: '<S269>/Get Parameter3' */
22591 dx_hand_model_DW.obj_jc.isInitialized = 0;
22592 dx_hand_model_DW.objisempty_nv = true;
22593 dx_hand_model_DW.obj_jc.SampleTime = dx_hand_model_P.update_param;
22594 dx_hand_model_DW.obj_jc.isInitialized = 1;
22595 for (i = 0; i < 32; i++) {
22596 dx_hand_model_B.cv5[i] = tmp_o[i];
22597 }
22598
22599 dx_hand_model_B.cv5[32] = '\x00';
22600 ParamGet_dx_hand_model_3019.initialize(dx_hand_model_B.cv5);
22601 ParamGet_dx_hand_model_3019.initialize_error_codes(0U, 1U, 2U, 3U);
22602 ParamGet_dx_hand_model_3019.set_initial_value(d_ParameterInitia_d);
22603
22604 /* End of Start for MATLABSystem: '<S269>/Get Parameter3' */
22605
22606 /* Start for MATLABSystem: '<S270>/Set Parameter' */
22607 dx_hand_model_DW.obj_aq.isInitialized = 0;
22608 dx_hand_model_DW.objisempty_bl = true;
22609 dx_hand_model_DW.obj_aq.isInitialized = 1;
22610 for (i = 0; i < 32; i++) {
22611 dx_hand_model_B.cv5[i] = tmp_n[i];
22612 }
22613
22614 dx_hand_model_B.cv5[32] = '\x00';
22615 ParamSet_dx_hand_model_3042.initialize(dx_hand_model_B.cv5);
22616
22617 /* End of Start for MATLABSystem: '<S270>/Set Parameter' */
22618
22619 /* Start for MATLABSystem: '<S270>/Get Parameter3' */
22620 dx_hand_model_DW.obj_e.isInitialized = 0;
22621 dx_hand_model_DW.objisempty_h = true;
22622 dx_hand_model_DW.obj_e.SampleTime = dx_hand_model_P.update_param;
22623 dx_hand_model_DW.obj_e.isInitialized = 1;
22624 for (i = 0; i < 32; i++) {
22625 dx_hand_model_B.cv5[i] = tmp_m[i];
22626 }
22627
22628 dx_hand_model_B.cv5[32] = '\x00';
22629 ParamGet_dx_hand_model_3038.initialize(dx_hand_model_B.cv5);
22630 ParamGet_dx_hand_model_3038.initialize_error_codes(0U, 1U, 2U, 3U);
22631 ParamGet_dx_hand_model_3038.set_initial_value(d_ParameterInitia_m);
22632
22633 /* End of Start for MATLABSystem: '<S270>/Get Parameter3' */
22634
22635 /* Start for MATLABSystem: '<S271>/Set Parameter' */
22636 dx_hand_model_DW.obj_mg.isInitialized = 0;
22637 dx_hand_model_DW.objisempty_ic = true;
22638 dx_hand_model_DW.obj_mg.isInitialized = 1;
22639 for (i = 0; i < 32; i++) {
22640 dx_hand_model_B.cv5[i] = tmp_l[i];
22641 }
22642
22643 dx_hand_model_B.cv5[32] = '\x00';
22644 ParamSet_dx_hand_model_4262.initialize(dx_hand_model_B.cv5);
22645
22646 /* End of Start for MATLABSystem: '<S271>/Set Parameter' */
22647
22648 /* Start for MATLABSystem: '<S271>/Get Parameter3' */
22649 dx_hand_model_DW.obj_b.isInitialized = 0;
22650 dx_hand_model_DW.objisempty_m = true;
22651 dx_hand_model_DW.obj_b.SampleTime = dx_hand_model_P.update_param;
22652 dx_hand_model_DW.obj_b.isInitialized = 1;
22653 for (i = 0; i < 32; i++) {
22654 dx_hand_model_B.cv5[i] = tmp_k[i];
22655 }
22656
22657 dx_hand_model_B.cv5[32] = '\x00';
22658 ParamGet_dx_hand_model_4259.initialize(dx_hand_model_B.cv5);
22659 ParamGet_dx_hand_model_4259.initialize_error_codes(0U, 1U, 2U, 3U);
22660 ParamGet_dx_hand_model_4259.set_initial_value(d_ParameterInitia_o);
22661
22662 /* End of Start for MATLABSystem: '<S271>/Get Parameter3' */
22663
22664 /* Start for MATLABSystem: '<S272>/Set Parameter' */
22665 dx_hand_model_DW.obj_di.isInitialized = 0;
22666 dx_hand_model_DW.objisempty_gy = true;
22667 dx_hand_model_DW.obj_di.isInitialized = 1;
22668 for (i = 0; i < 32; i++) {
22669 dx_hand_model_B.cv5[i] = tmp_j[i];
22670 }
22671
22672 dx_hand_model_B.cv5[32] = '\x00';
22673 ParamSet_dx_hand_model_4270.initialize(dx_hand_model_B.cv5);
22674
22675 /* End of Start for MATLABSystem: '<S272>/Set Parameter' */
22676
22677 /* Start for MATLABSystem: '<S272>/Get Parameter3' */
22678 dx_hand_model_DW.obj_g.isInitialized = 0;
22679 dx_hand_model_DW.objisempty_j = true;
22680 dx_hand_model_DW.obj_g.SampleTime = dx_hand_model_P.update_param;
22681 dx_hand_model_DW.obj_g.isInitialized = 1;
22682 for (i = 0; i < 32; i++) {
22683 dx_hand_model_B.cv5[i] = tmp_i[i];
22684 }
22685
22686 dx_hand_model_B.cv5[32] = '\x00';
22687 ParamGet_dx_hand_model_4267.initialize(dx_hand_model_B.cv5);
22688 ParamGet_dx_hand_model_4267.initialize_error_codes(0U, 1U, 2U, 3U);
22689 ParamGet_dx_hand_model_4267.set_initial_value(d_ParameterInitia_l);
22690
22691 /* End of Start for MATLABSystem: '<S272>/Get Parameter3' */
22692
22693 /* Start for MATLABSystem: '<S230>/Get Parameter' */
22694 dx_hand_model_DW.obj_p.isInitialized = 0;
22695 dx_hand_model_DW.objisempty_o = true;
22696 dx_hand_model_DW.obj_p.SampleTime = dx_hand_model_P.update_param;
22697 dx_hand_model_DW.obj_p.isInitialized = 1;
22698 for (i = 0; i < 20; i++) {
22699 dx_hand_model_B.cv16[i] = tmp_h[i];
22700 }
22701
22702 dx_hand_model_B.cv16[20] = '\x00';
22703 ParamGet_dx_hand_model_3442.initialize(dx_hand_model_B.cv16);
22704 ParamGet_dx_hand_model_3442.initialize_error_codes(0U, 1U, 2U, 3U);
22705 ParamGet_dx_hand_model_3442.set_initial_value(d_ParameterInitia_kh);
22706
22707 /* End of Start for MATLABSystem: '<S230>/Get Parameter' */
22708
22709 /* Start for MATLABSystem: '<S230>/Get Parameter2' */
22710 dx_hand_model_DW.obj_m.isInitialized = 0;
22711 dx_hand_model_DW.objisempty_b = true;
22712 dx_hand_model_DW.obj_m.SampleTime = dx_hand_model_P.update_param;
22713 dx_hand_model_DW.obj_m.isInitialized = 1;
22714 for (i = 0; i < 20; i++) {
22715 dx_hand_model_B.cv16[i] = tmp_g[i];
22716 }
22717
22718 dx_hand_model_B.cv16[20] = '\x00';
22719 ParamGet_dx_hand_model_3444.initialize(dx_hand_model_B.cv16);
22720 ParamGet_dx_hand_model_3444.initialize_error_codes(0U, 1U, 2U, 3U);
22721 ParamGet_dx_hand_model_3444.set_initial_value
22722 (dx_hand_m_ParameterInitialValue);
22723
22724 /* End of Start for MATLABSystem: '<S230>/Get Parameter2' */
22725
22726 /* Start for MATLABSystem: '<S230>/Get Parameter3' */
22727 dx_hand_model_DW.obj_o.isInitialized = 0;
22728 dx_hand_model_DW.objisempty_i = true;
22729 dx_hand_model_DW.obj_o.SampleTime = dx_hand_model_P.update_param;
22730 dx_hand_model_DW.obj_o.isInitialized = 1;
22731 for (i = 0; i < 20; i++) {
22732 dx_hand_model_B.cv16[i] = tmp_f[i];
22733 }
22734
22735 dx_hand_model_B.cv16[20] = '\x00';
22736 ParamGet_dx_hand_model_3445.initialize(dx_hand_model_B.cv16);
22737 ParamGet_dx_hand_model_3445.initialize_error_codes(0U, 1U, 2U, 3U);
22738 ParamGet_dx_hand_model_3445.set_initial_value(d_ParameterInitia_op);
22739
22740 /* End of Start for MATLABSystem: '<S230>/Get Parameter3' */
22741
22742 /* Start for MATLABSystem: '<S230>/Get Parameter1' */
22743 dx_hand_model_DW.obj_c.isInitialized = 0;
22744 dx_hand_model_DW.objisempty_g = true;
22745 dx_hand_model_DW.obj_c.SampleTime = dx_hand_model_P.update_param;
22746 dx_hand_model_DW.obj_c.isInitialized = 1;
22747 for (i = 0; i < 18; i++) {
22748 dx_hand_model_B.cv18[i] = tmp_e[i];
22749 }
22750
22751 dx_hand_model_B.cv18[18] = '\x00';
22752 ParamGet_dx_hand_model_3443.initialize(dx_hand_model_B.cv18);
22753 ParamGet_dx_hand_model_3443.initialize_error_codes(0U, 1U, 2U, 3U);
22754 ParamGet_dx_hand_model_3443.set_initial_value
22755 (d_ParameterInitialValue_kfaixs2);
22756
22757 /* End of Start for MATLABSystem: '<S230>/Get Parameter1' */
22758
22759 /* Start for MATLABSystem: '<S230>/Get Parameter4' */
22760 dx_hand_model_DW.obj_j.isInitialized = 0;
22761 dx_hand_model_DW.objisempty_a = true;
22762 dx_hand_model_DW.obj_j.SampleTime = dx_hand_model_P.update_param;
22763 dx_hand_model_DW.obj_j.isInitialized = 1;
22764 for (i = 0; i < 22; i++) {
22765 dx_hand_model_B.cv14[i] = tmp_d[i];
22766 }
22767
22768 dx_hand_model_B.cv14[22] = '\x00';
22769 ParamGet_dx_hand_model_3446.initialize(dx_hand_model_B.cv14);
22770 ParamGet_dx_hand_model_3446.initialize_error_codes(0U, 1U, 2U, 3U);
22771 ParamGet_dx_hand_model_3446.set_initial_value(d_ParameterInitia_k5);
22772
22773 /* End of Start for MATLABSystem: '<S230>/Get Parameter4' */
22774
22775 /* Start for MATLABSystem: '<S230>/Get Parameter5' */
22776 dx_hand_model_DW.obj_p2.isInitialized = 0;
22777 dx_hand_model_DW.objisempty_b5 = true;
22778 dx_hand_model_DW.obj_p2.SampleTime = dx_hand_model_P.update_param;
22779 dx_hand_model_DW.obj_p2.isInitialized = 1;
22780 for (i = 0; i < 18; i++) {
22781 dx_hand_model_B.cv18[i] = tmp_c[i];
22782 }
22783
22784 dx_hand_model_B.cv18[18] = '\x00';
22785 ParamGet_dx_hand_model_3454.initialize(dx_hand_model_B.cv18);
22786 ParamGet_dx_hand_model_3454.initialize_error_codes(0U, 1U, 2U, 3U);
22787 ParamGet_dx_hand_model_3454.set_initial_value
22788 (d_ParameterInitialValue_kfaixs2);
22789
22790 /* End of Start for MATLABSystem: '<S230>/Get Parameter5' */
22791
22792 /* Start for MATLABSystem: '<S230>/Get Parameter6' */
22793 dx_hand_model_DW.obj_ca.isInitialized = 0;
22794 dx_hand_model_DW.objisempty_cu = true;
22795 dx_hand_model_DW.obj_ca.SampleTime = dx_hand_model_P.update_param;
22796 dx_hand_model_DW.obj_ca.isInitialized = 1;
22797 for (i = 0; i < 22; i++) {
22798 dx_hand_model_B.cv14[i] = tmp_b[i];
22799 }
22800
22801 dx_hand_model_B.cv14[22] = '\x00';
22802 ParamGet_dx_hand_model_4055.initialize(dx_hand_model_B.cv14);
22803 ParamGet_dx_hand_model_4055.initialize_error_codes(0U, 1U, 2U, 3U);
22804 ParamGet_dx_hand_model_4055.set_initial_value(d_ParameterInitia_k);
22805
22806 /* End of Start for MATLABSystem: '<S230>/Get Parameter6' */
22807
22808 /* Start for Enabled SubSystem: '<S239>/Subsystem2' */
22809
22810 /* Start for ToFile: '<S310>/To File' */
22811 {
22812 FILE *fp = (NULL);
22813 char fileName[509] = "thumb_force.mat";
22814 if ((fp = fopen(fileName, "wb")) == (NULL)) {
22815 rtmSetErrorStatus(dx_hand_model_M,
22816 "Error creating .mat file thumb_force.mat");
22817 return;
22818 }
22819
22820 if (rt_WriteMat4FileHeader(fp, 2 + 1, 0, "forza_gravita")) {
22821 rtmSetErrorStatus(dx_hand_model_M,
22822 "Error writing mat file header to file thumb_force.mat");
22823 return;
22824 }
22825
22826 dx_hand_model_DW.ToFile_IWORK.Count = 0;
22827 dx_hand_model_DW.ToFile_IWORK.Decimation = -1;
22828 dx_hand_model_DW.ToFile_PWORK.FilePtr = fp;
22829 }
22830
22831 /* End of Start for SubSystem: '<S239>/Subsystem2' */
22832
22833 /* Start for Enabled SubSystem: '<S1>/Thumb Exo Structure' */
22834
22835 /* Start for ToFile: '<S13>/To File' */
22836 {
22837 FILE *fp = (NULL);
22838 char fileName[509] = "exo_points.mat";
22839 if ((fp = fopen(fileName, "wb")) == (NULL)) {
22840 rtmSetErrorStatus(dx_hand_model_M,
22841 "Error creating .mat file exo_points.mat");
22842 return;
22843 }
22844
22845 if (rt_WriteMat4FileHeader(fp, 61 + 1, 0, "points")) {
22846 rtmSetErrorStatus(dx_hand_model_M,
22847 "Error writing mat file header to file exo_points.mat");
22848 return;
22849 }
22850
22851 dx_hand_model_DW.ToFile_IWORK_l.Count = 0;
22852 dx_hand_model_DW.ToFile_IWORK_l.Decimation = -1;
22853 dx_hand_model_DW.ToFile_PWORK_p.FilePtr = fp;
22854 }
22855
22856 /* End of Start for SubSystem: '<S1>/Thumb Exo Structure' */
22857
22858 /* Start for RateTransition: '<S10>/Rate Transition' */
22859 dx_hand_model_B.RateTransition_lw =
22860 dx_hand_model_P.RateTransition_InitialCondit_nq;
22861
22862 /* Start for Atomic SubSystem: '<S14>/Publish1' */
22863 /* Start for MATLABSystem: '<S17>/SinkBlock' */
22864 dx_hand_model_DW.obj_jct.isInitialized = 0;
22865 dx_hand_model_DW.objisempty_jr = true;
22866 dx_hand_model_DW.obj_jct.isInitialized = 1;
22867 for (i = 0; i < 15; i++) {
22868 tmp_3m[i] = tmp_a[i];
22869 }
22870
22871 tmp_3m[15] = '\x00';
22872 Pub_dx_hand_model_3422.createPublisher(tmp_3m, dx_hand_model_MessageQueueLen);
22873
22874 /* End of Start for MATLABSystem: '<S17>/SinkBlock' */
22875 /* End of Start for SubSystem: '<S14>/Publish1' */
22876
22877 /* Start for MATLABSystem: '<S4>/Get Parameter1' */
22878 dx_hand_model_DW.obj_b4.isInitialized = 0;
22879 dx_hand_model_DW.objisempty_kf = true;
22880 dx_hand_model_DW.obj_b4.SampleTime = dx_hand_model_P.update_param;
22881 dx_hand_model_DW.obj_b4.isInitialized = 1;
22882 for (i = 0; i < 23; i++) {
22883 dx_hand_model_B.cv13[i] = tmp_9[i];
22884 }
22885
22886 dx_hand_model_B.cv13[23] = '\x00';
22887 ParamGet_dx_hand_model_4946.initialize(dx_hand_model_B.cv13);
22888 ParamGet_dx_hand_model_4946.initialize_error_codes(0U, 1U, 2U, 3U);
22889 ParamGet_dx_hand_model_4946.set_initial_value
22890 (dx_hand_m_ParameterInitialValue);
22891
22892 /* End of Start for MATLABSystem: '<S4>/Get Parameter1' */
22893
22894 /* Start for MATLABSystem: '<S24>/Get Parameter3' */
22895 dx_hand_model_DW.obj_l3.isInitialized = 0;
22896 dx_hand_model_DW.objisempty_mb = true;
22897 dx_hand_model_DW.obj_l3.SampleTime = dx_hand_model_P.update_param;
22898 dx_hand_model_DW.obj_l3.isInitialized = 1;
22899 for (i = 0; i < 23; i++) {
22900 dx_hand_model_B.cv13[i] = tmp_8[i];
22901 }
22902
22903 dx_hand_model_B.cv13[23] = '\x00';
22904 ParamGet_dx_hand_model_3210.initialize(dx_hand_model_B.cv13);
22905 ParamGet_dx_hand_model_3210.initialize_error_codes(0U, 1U, 2U, 3U);
22906 ParamGet_dx_hand_model_3210.set_initial_value
22907 (dx_hand_ParameterInitialValue_k);
22908
22909 /* End of Start for MATLABSystem: '<S24>/Get Parameter3' */
22910
22911 /* Start for RateTransition: '<S10>/Rate Transition1' */
22912 dx_hand_model_B.RateTransition1_e =
22913 dx_hand_model_P.RateTransition1_InitialCondit_j;
22914
22915 /* Start for S-Function (sdspToNetwork): '<S10>/UDP Send' */
22916 sErr = GetErrorBuffer(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
22917 CreateUDPInterface(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
22918 if (*sErr == 0) {
22919 LibCreate_Network(&dx_hand_model_DW.UDPSend_NetworkLib[0U], 1, "0.0.0.0",
22920 -1, "10.24.4.91", dx_hand_model_P.UDPSend_remotePort,
22921 8192, 1, 0);
22922 }
22923
22924 if (*sErr == 0) {
22925 LibStart(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
22926 }
22927
22928 if (*sErr != 0) {
22929 DestroyUDPInterface(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
22930 if (*sErr != 0) {
22931 rtmSetErrorStatus(dx_hand_model_M, sErr);
22932 rtmSetStopRequested(dx_hand_model_M, 1);
22933 }
22934 }
22935
22936 /* End of Start for S-Function (sdspToNetwork): '<S10>/UDP Send' */
22937
22938 /* Start for MATLABSystem: '<S10>/Get Parameter1' */
22939 dx_hand_model_DW.obj_h.isInitialized = 0;
22940 dx_hand_model_DW.objisempty_p = true;
22941 dx_hand_model_DW.obj_h.SampleTime = dx_hand_model_P.update_param;
22942 dx_hand_model_DW.obj_h.isInitialized = 1;
22943 for (i = 0; i < 20; i++) {
22944 dx_hand_model_B.cv16[i] = tmp_7[i];
22945 }
22946
22947 dx_hand_model_B.cv16[20] = '\x00';
22948 ParamGet_dx_hand_model_4942.initialize(dx_hand_model_B.cv16);
22949 ParamGet_dx_hand_model_4942.initialize_error_codes(0U, 1U, 2U, 3U);
22950 ParamGet_dx_hand_model_4942.set_initial_value
22951 (dx_hand_m_ParameterInitialValue);
22952
22953 /* End of Start for MATLABSystem: '<S10>/Get Parameter1' */
22954
22955 /* Start for MATLABSystem: '<S10>/Get Parameter3' */
22956 dx_hand_model_DW.obj_k.isInitialized = 0;
22957 dx_hand_model_DW.objisempty_cs = true;
22958 dx_hand_model_DW.obj_k.SampleTime = dx_hand_model_P.update_param;
22959 dx_hand_model_DW.obj_k.isInitialized = 1;
22960 for (i = 0; i < 14; i++) {
22961 tmp_3l[i] = tmp_6[i];
22962 }
22963
22964 tmp_3l[14] = '\x00';
22965 ParamGet_dx_hand_model_2544.initialize(tmp_3l);
22966 ParamGet_dx_hand_model_2544.initialize_error_codes(0U, 1U, 2U, 3U);
22967 ParamGet_dx_hand_model_2544.set_initial_value
22968 (ParameterInitia_kfaixs2xtfargwk);
22969
22970 /* End of Start for MATLABSystem: '<S10>/Get Parameter3' */
22971
22972 /* Start for RateTransition: '<S221>/Rate Transition' */
22973 dx_hand_model_B.RateTransition_dwi =
22974 dx_hand_model_P.RateTransition_InitialCondit_gu;
22975
22976 /* Start for RateTransition: '<S222>/Rate Transition' */
22977 dx_hand_model_B.RateTransition_ec =
22978 dx_hand_model_P.RateTransition_InitialCondit_ep;
22979
22980 /* Start for RateTransition: '<S223>/Rate Transition' */
22981 dx_hand_model_B.RateTransition_lo =
22982 dx_hand_model_P.RateTransition_InitialCondit_dy;
22983
22984 /* Start for RateTransition: '<S224>/Rate Transition' */
22985 dx_hand_model_B.RateTransition_dbs =
22986 dx_hand_model_P.RateTransition_InitialCondi_mrn;
22987
22988 /* Start for RateTransition: '<S225>/Rate Transition' */
22989 dx_hand_model_B.RateTransition_j2 =
22990 dx_hand_model_P.RateTransition_InitialCondit_oh;
22991
22992 /* Start for RateTransition: '<S226>/Rate Transition' */
22993 dx_hand_model_B.RateTransition_l2 =
22994 dx_hand_model_P.RateTransition_InitialCondit_jn;
22995
22996 /* Start for Atomic SubSystem: '<S215>/Publish1' */
22997 /* Start for MATLABSystem: '<S219>/SinkBlock' */
22998 dx_hand_model_DW.obj_br.isInitialized = 0;
22999 dx_hand_model_DW.objisempty_o3 = true;
23000 dx_hand_model_DW.obj_br.isInitialized = 1;
23001 for (i = 0; i < 31; i++) {
23002 dx_hand_model_B.cv6[i] = tmp_5[i];
23003 }
23004
23005 dx_hand_model_B.cv6[31] = '\x00';
23006 Pub_dx_hand_model_2867.createPublisher(dx_hand_model_B.cv6,
23007 dx_hand_model_MessageQueueLen);
23008
23009 /* End of Start for MATLABSystem: '<S219>/SinkBlock' */
23010 /* End of Start for SubSystem: '<S215>/Publish1' */
23011
23012 /* Start for MATLABSystem: '<S221>/Get Parameter3' */
23013 dx_hand_model_DW.obj_f.isInitialized = 0;
23014 dx_hand_model_DW.objisempty_al = true;
23015 dx_hand_model_DW.obj_f.SampleTime = dx_hand_model_P.update_param;
23016 dx_hand_model_DW.obj_f.isInitialized = 1;
23017 for (i = 0; i < 22; i++) {
23018 dx_hand_model_B.cv14[i] = tmp_4[i];
23019 }
23020
23021 dx_hand_model_B.cv14[22] = '\x00';
23022 ParamGet_dx_hand_model_2723.initialize(dx_hand_model_B.cv14);
23023 ParamGet_dx_hand_model_2723.initialize_error_codes(0U, 1U, 2U, 3U);
23024 ParamGet_dx_hand_model_2723.set_initial_value
23025 (dx_ha_ParameterInitialValue_kfa);
23026
23027 /* End of Start for MATLABSystem: '<S221>/Get Parameter3' */
23028
23029 /* Start for MATLABSystem: '<S222>/Get Parameter3' */
23030 dx_hand_model_DW.obj_n.isInitialized = 0;
23031 dx_hand_model_DW.objisempty_mw = true;
23032 dx_hand_model_DW.obj_n.SampleTime = dx_hand_model_P.update_param;
23033 dx_hand_model_DW.obj_n.isInitialized = 1;
23034 for (i = 0; i < 22; i++) {
23035 dx_hand_model_B.cv14[i] = tmp_3[i];
23036 }
23037
23038 dx_hand_model_B.cv14[22] = '\x00';
23039 ParamGet_dx_hand_model_2736.initialize(dx_hand_model_B.cv14);
23040 ParamGet_dx_hand_model_2736.initialize_error_codes(0U, 1U, 2U, 3U);
23041 ParamGet_dx_hand_model_2736.set_initial_value
23042 (dx_hand_ParameterInitialValue_k);
23043
23044 /* End of Start for MATLABSystem: '<S222>/Get Parameter3' */
23045
23046 /* Start for MATLABSystem: '<S223>/Get Parameter3' */
23047 dx_hand_model_DW.obj_cd.isInitialized = 0;
23048 dx_hand_model_DW.objisempty_f = true;
23049 dx_hand_model_DW.obj_cd.SampleTime = dx_hand_model_P.update_param;
23050 dx_hand_model_DW.obj_cd.isInitialized = 1;
23051 for (i = 0; i < 23; i++) {
23052 dx_hand_model_B.cv13[i] = tmp_2[i];
23053 }
23054
23055 dx_hand_model_B.cv13[23] = '\x00';
23056 ParamGet_dx_hand_model_2745.initialize(dx_hand_model_B.cv13);
23057 ParamGet_dx_hand_model_2745.initialize_error_codes(0U, 1U, 2U, 3U);
23058 ParamGet_dx_hand_model_2745.set_initial_value
23059 (dx_hand_ParameterInitialValue_k);
23060
23061 /* End of Start for MATLABSystem: '<S223>/Get Parameter3' */
23062
23063 /* Start for MATLABSystem: '<S224>/Get Parameter3' */
23064 dx_hand_model_DW.obj_pa.isInitialized = 0;
23065 dx_hand_model_DW.objisempty_d = true;
23066 dx_hand_model_DW.obj_pa.SampleTime = dx_hand_model_P.update_param;
23067 dx_hand_model_DW.obj_pa.isInitialized = 1;
23068 for (i = 0; i < 21; i++) {
23069 dx_hand_model_B.cv15[i] = tmp_1[i];
23070 }
23071
23072 dx_hand_model_B.cv15[21] = '\x00';
23073 ParamGet_dx_hand_model_2754.initialize(dx_hand_model_B.cv15);
23074 ParamGet_dx_hand_model_2754.initialize_error_codes(0U, 1U, 2U, 3U);
23075 ParamGet_dx_hand_model_2754.set_initial_value
23076 (dx_ha_ParameterInitialValue_kfa);
23077
23078 /* End of Start for MATLABSystem: '<S224>/Get Parameter3' */
23079
23080 /* Start for MATLABSystem: '<S225>/Get Parameter3' */
23081 dx_hand_model_DW.obj_bm.isInitialized = 0;
23082 dx_hand_model_DW.objisempty_l = true;
23083 dx_hand_model_DW.obj_bm.SampleTime = dx_hand_model_P.update_param;
23084 dx_hand_model_DW.obj_bm.isInitialized = 1;
23085 for (i = 0; i < 22; i++) {
23086 dx_hand_model_B.cv14[i] = tmp_0[i];
23087 }
23088
23089 dx_hand_model_B.cv14[22] = '\x00';
23090 ParamGet_dx_hand_model_2762.initialize(dx_hand_model_B.cv14);
23091 ParamGet_dx_hand_model_2762.initialize_error_codes(0U, 1U, 2U, 3U);
23092 ParamGet_dx_hand_model_2762.set_initial_value
23093 (dx_ha_ParameterInitialValue_kfa);
23094
23095 /* End of Start for MATLABSystem: '<S225>/Get Parameter3' */
23096
23097 /* Start for MATLABSystem: '<S226>/Get Parameter3' */
23098 dx_hand_model_DW.obj_g1.isInitialized = 0;
23099 dx_hand_model_DW.objisempty_nb = true;
23100 dx_hand_model_DW.obj_g1.SampleTime = dx_hand_model_P.update_param;
23101 dx_hand_model_DW.obj_g1.isInitialized = 1;
23102 for (i = 0; i < 23; i++) {
23103 dx_hand_model_B.cv13[i] = tmp[i];
23104 }
23105
23106 dx_hand_model_B.cv13[23] = '\x00';
23107 ParamGet_dx_hand_model_2768.initialize(dx_hand_model_B.cv13);
23108 ParamGet_dx_hand_model_2768.initialize_error_codes(0U, 1U, 2U, 3U);
23109 ParamGet_dx_hand_model_2768.set_initial_value
23110 (dx_ha_ParameterInitialValue_kfa);
23111
23112 /* End of Start for MATLABSystem: '<S226>/Get Parameter3' */
23113 }
23114
23115 {
23116 int32_T i;
23117
23118 /* InitializeConditions for RateTransition: '<S33>/Rate Transition' */
23119 dx_hand_model_DW.RateTransition_Buffer0 =
23120 dx_hand_model_P.RateTransition_InitialCondition;
23121
23122 /* InitializeConditions for DiscreteTransferFcn: '<S39>/Filt 4' */
23123 dx_hand_model_DW.Filt4_states[0] = dx_hand_model_P.Filt4_InitialStates;
23124 dx_hand_model_DW.Filt4_states[1] = dx_hand_model_P.Filt4_InitialStates;
23125 dx_hand_model_DW.Filt4_states[2] = dx_hand_model_P.Filt4_InitialStates;
23126 dx_hand_model_DW.Filt4_states[3] = dx_hand_model_P.Filt4_InitialStates;
23127
23128 /* InitializeConditions for RateTransition: '<S39>/Rate Transition' */
23129 dx_hand_model_DW.RateTransition_Buffer0_p =
23130 dx_hand_model_P.RateTransition_InitialConditi_m;
23131
23132 /* InitializeConditions for RateTransition: '<S4>/Rate Transition1' */
23133 dx_hand_model_DW.RateTransition1_Buffer0 =
23134 dx_hand_model_P.RateTransition1_InitialConditio;
23135
23136 /* InitializeConditions for Delay: '<S4>/Delay' */
23137 for (i = 0; i < 2700; i++) {
23138 dx_hand_model_DW.Delay_DSTATE[i] = dx_hand_model_P.Delay_InitialCondition;
23139 }
23140
23141 /* End of InitializeConditions for Delay: '<S4>/Delay' */
23142
23143 /* InitializeConditions for RateTransition: '<S50>/Rate Transition' */
23144 dx_hand_model_DW.RateTransition_Buffer0_j =
23145 dx_hand_model_P.RateTransition_InitialConditi_e;
23146
23147 /* InitializeConditions for RateTransition: '<S37>/Rate Transition' */
23148 for (i = 0; i < 5; i++) {
23149 dx_hand_model_DW.RateTransition_Buffer0_e[i] =
23150 dx_hand_model_P.RateTransition_InitialCondit_e5;
23151 }
23152
23153 /* End of InitializeConditions for RateTransition: '<S37>/Rate Transition' */
23154
23155 /* InitializeConditions for UnitDelay: '<S36>/Unit Delay3' */
23156 dx_hand_model_DW.UnitDelay3_DSTATE[0] =
23157 dx_hand_model_P.UnitDelay3_InitialCondition[0];
23158 dx_hand_model_DW.UnitDelay3_DSTATE[1] =
23159 dx_hand_model_P.UnitDelay3_InitialCondition[1];
23160
23161 /* InitializeConditions for UnitDelay: '<S36>/Unit Delay1' */
23162 dx_hand_model_DW.UnitDelay1_DSTATE =
23163 dx_hand_model_P.UnitDelay1_InitialCondition;
23164
23165 /* InitializeConditions for Memory: '<S39>/Memory' */
23166 dx_hand_model_DW.Memory_PreviousInput[0] =
23167 dx_hand_model_P.Memory_InitialCondition[0];
23168 dx_hand_model_DW.Memory_PreviousInput[1] =
23169 dx_hand_model_P.Memory_InitialCondition[1];
23170 dx_hand_model_DW.Memory_PreviousInput[2] =
23171 dx_hand_model_P.Memory_InitialCondition[2];
23172 dx_hand_model_DW.Memory_PreviousInput[3] =
23173 dx_hand_model_P.Memory_InitialCondition[3];
23174
23175 /* InitializeConditions for RateTransition: '<S69>/Rate Transition' */
23176 dx_hand_model_DW.RateTransition_Buffer0_a =
23177 dx_hand_model_P.RateTransition_InitialConditi_l;
23178
23179 /* InitializeConditions for DiscreteTransferFcn: '<S27>/Filt 4' */
23180 dx_hand_model_DW.Filt4_states_p = dx_hand_model_P.Filt4_InitialStates_b;
23181
23182 /* InitializeConditions for RateTransition: '<S24>/Rate Transition' */
23183 dx_hand_model_DW.RateTransition_Buffer0_l =
23184 dx_hand_model_P.RateTransition_InitialConditi_i;
23185
23186 /* InitializeConditions for RateTransition: '<S76>/Rate Transition' */
23187 dx_hand_model_DW.RateTransition_Buffer0_h =
23188 dx_hand_model_P.RateTransition_InitialCondit_l4;
23189
23190 /* InitializeConditions for RateTransition: '<S70>/Rate Transition' */
23191 dx_hand_model_DW.RateTransition_Buffer0_f =
23192 dx_hand_model_P.RateTransition_InitialConditi_g;
23193
23194 /* InitializeConditions for DiscreteTransferFcn: '<S26>/Filt 4' */
23195 dx_hand_model_DW.Filt4_states_e = dx_hand_model_P.Filt4_InitialStates_e;
23196
23197 /* InitializeConditions for RateTransition: '<S77>/Rate Transition' */
23198 dx_hand_model_DW.RateTransition_Buffer0_hi =
23199 dx_hand_model_P.RateTransition_InitialConditi_f;
23200
23201 /* InitializeConditions for RateTransition: '<S71>/Rate Transition' */
23202 dx_hand_model_DW.RateTransition_Buffer0_eo =
23203 dx_hand_model_P.RateTransition_InitialConditi_b;
23204
23205 /* InitializeConditions for UnitDelay: '<S63>/UD' */
23206 dx_hand_model_DW.UD_DSTATE = dx_hand_model_P.DiscreteDerivative2_ICPrevScale;
23207
23208 /* InitializeConditions for RateTransition: '<S67>/Rate Transition' */
23209 dx_hand_model_DW.RateTransition_Buffer0_k =
23210 dx_hand_model_P.RateTransition_InitialConditi_d;
23211
23212 /* InitializeConditions for UnitDelay: '<S61>/UD' */
23213 dx_hand_model_DW.UD_DSTATE_e =
23214 dx_hand_model_P.DiscreteDerivative_ICPrevScaled;
23215
23216 /* InitializeConditions for RateTransition: '<S72>/Rate Transition' */
23217 dx_hand_model_DW.RateTransition_Buffer0_lg =
23218 dx_hand_model_P.RateTransition_InitialCondit_df;
23219
23220 /* InitializeConditions for UnitDelay: '<S64>/UD' */
23221 dx_hand_model_DW.UD_DSTATE_h =
23222 dx_hand_model_P.DiscreteDerivative3_ICPrevScale;
23223
23224 /* InitializeConditions for RateTransition: '<S68>/Rate Transition' */
23225 dx_hand_model_DW.RateTransition_Buffer0_d =
23226 dx_hand_model_P.RateTransition_InitialConditi_h;
23227
23228 /* InitializeConditions for UnitDelay: '<S62>/UD' */
23229 dx_hand_model_DW.UD_DSTATE_d =
23230 dx_hand_model_P.DiscreteDerivative1_ICPrevScale;
23231
23232 /* InitializeConditions for RateTransition: '<S66>/Rate Transition' */
23233 dx_hand_model_DW.RateTransition_Buffer0_fj =
23234 dx_hand_model_P.RateTransition_InitialCondit_mr;
23235
23236 /* InitializeConditions for RateTransition: '<S34>/Rate Transition' */
23237 dx_hand_model_DW.RateTransition_Buffer0_b =
23238 dx_hand_model_P.RateTransition_InitialCondit_le;
23239
23240 /* InitializeConditions for RateTransition: '<S47>/Rate Transition' */
23241 dx_hand_model_DW.RateTransition_Buffer0_jl =
23242 dx_hand_model_P.RateTransition_InitialConditi_o;
23243
23244 /* InitializeConditions for RateTransition: '<S46>/Rate Transition' */
23245 dx_hand_model_DW.RateTransition_Buffer0_g =
23246 dx_hand_model_P.RateTransition_InitialConditi_n;
23247
23248 /* InitializeConditions for RateTransition: '<S45>/Rate Transition' */
23249 dx_hand_model_DW.RateTransition_Buffer0_kp =
23250 dx_hand_model_P.RateTransition_InitialCondit_ml;
23251
23252 /* InitializeConditions for RateTransition: '<S41>/Rate Transition' */
23253 dx_hand_model_DW.RateTransition_Buffer0_k1 =
23254 dx_hand_model_P.RateTransition_InitialConditi_a;
23255
23256 /* InitializeConditions for RateTransition: '<S78>/Rate Transition' */
23257 dx_hand_model_DW.RateTransition_Buffer0_m =
23258 dx_hand_model_P.RateTransition_InitialConditi_c;
23259
23260 /* InitializeConditions for DiscreteTransferFcn: '<S84>/Filt 4' */
23261 dx_hand_model_DW.Filt4_states_g[0] = dx_hand_model_P.Filt4_InitialStates_n;
23262 dx_hand_model_DW.Filt4_states_g[1] = dx_hand_model_P.Filt4_InitialStates_n;
23263 dx_hand_model_DW.Filt4_states_g[2] = dx_hand_model_P.Filt4_InitialStates_n;
23264 dx_hand_model_DW.Filt4_states_g[3] = dx_hand_model_P.Filt4_InitialStates_n;
23265
23266 /* InitializeConditions for RateTransition: '<S84>/Rate Transition' */
23267 dx_hand_model_DW.RateTransition_Buffer0_c =
23268 dx_hand_model_P.RateTransition_InitialCondit_h1;
23269
23270 /* InitializeConditions for RateTransition: '<S92>/Rate Transition' */
23271 dx_hand_model_DW.RateTransition_Buffer0_mu =
23272 dx_hand_model_P.RateTransition_InitialConditi_j;
23273
23274 /* InitializeConditions for RateTransition: '<S81>/Rate Transition' */
23275 for (i = 0; i < 5; i++) {
23276 dx_hand_model_DW.RateTransition_Buffer0_dg[i] =
23277 dx_hand_model_P.RateTransition_InitialCondit_ho;
23278 }
23279
23280 /* End of InitializeConditions for RateTransition: '<S81>/Rate Transition' */
23281
23282 /* InitializeConditions for UnitDelay: '<S80>/Unit Delay3' */
23283 dx_hand_model_DW.UnitDelay3_DSTATE_k[0] =
23284 dx_hand_model_P.UnitDelay3_InitialCondition_e[0];
23285 dx_hand_model_DW.UnitDelay3_DSTATE_k[1] =
23286 dx_hand_model_P.UnitDelay3_InitialCondition_e[1];
23287
23288 /* InitializeConditions for UnitDelay: '<S80>/Unit Delay1' */
23289 dx_hand_model_DW.UnitDelay1_DSTATE_e =
23290 dx_hand_model_P.UnitDelay1_InitialCondition_d;
23291
23292 /* InitializeConditions for Memory: '<S84>/Memory' */
23293 dx_hand_model_DW.Memory_PreviousInput_k[0] =
23294 dx_hand_model_P.Memory_InitialCondition_g[0];
23295 dx_hand_model_DW.Memory_PreviousInput_k[1] =
23296 dx_hand_model_P.Memory_InitialCondition_g[1];
23297 dx_hand_model_DW.Memory_PreviousInput_k[2] =
23298 dx_hand_model_P.Memory_InitialCondition_g[2];
23299 dx_hand_model_DW.Memory_PreviousInput_k[3] =
23300 dx_hand_model_P.Memory_InitialCondition_g[3];
23301
23302 /* InitializeConditions for RateTransition: '<S119>/Rate Transition' */
23303 dx_hand_model_DW.RateTransition_Buffer0_n =
23304 dx_hand_model_P.RateTransition_InitialCondit_hj;
23305
23306 /* InitializeConditions for DiscreteTransferFcn: '<S29>/Filt 4' */
23307 dx_hand_model_DW.Filt4_states_n = dx_hand_model_P.Filt4_InitialStates_ey;
23308
23309 /* InitializeConditions for RateTransition: '<S87>/Rate Transition' */
23310 dx_hand_model_DW.RateTransition_Buffer0_nl =
23311 dx_hand_model_P.RateTransition_InitialCondit_fa;
23312
23313 /* InitializeConditions for RateTransition: '<S120>/Rate Transition' */
23314 dx_hand_model_DW.RateTransition_Buffer0_az =
23315 dx_hand_model_P.RateTransition_InitialCondit_oz;
23316
23317 /* InitializeConditions for DiscreteTransferFcn: '<S28>/Filt 4' */
23318 dx_hand_model_DW.Filt4_states_b = dx_hand_model_P.Filt4_InitialStates_j;
23319
23320 /* InitializeConditions for RateTransition: '<S88>/Rate Transition' */
23321 dx_hand_model_DW.RateTransition_Buffer0_jv =
23322 dx_hand_model_P.RateTransition_InitialCondit_lg;
23323
23324 /* InitializeConditions for RateTransition: '<S121>/Rate Transition' */
23325 dx_hand_model_DW.RateTransition_Buffer0_at =
23326 dx_hand_model_P.RateTransition_InitialCondit_dc;
23327
23328 /* InitializeConditions for UnitDelay: '<S113>/UD' */
23329 dx_hand_model_DW.UD_DSTATE_l =
23330 dx_hand_model_P.DiscreteDerivative2_ICPrevSca_g;
23331
23332 /* InitializeConditions for RateTransition: '<S117>/Rate Transition' */
23333 dx_hand_model_DW.RateTransition_Buffer0_bq =
23334 dx_hand_model_P.RateTransition_InitialConditi_p;
23335
23336 /* InitializeConditions for UnitDelay: '<S111>/UD' */
23337 dx_hand_model_DW.UD_DSTATE_f =
23338 dx_hand_model_P.DiscreteDerivative_ICPrevScal_e;
23339
23340 /* InitializeConditions for RateTransition: '<S122>/Rate Transition' */
23341 dx_hand_model_DW.RateTransition_Buffer0_i =
23342 dx_hand_model_P.RateTransition_InitialCondit_eh;
23343
23344 /* InitializeConditions for UnitDelay: '<S114>/UD' */
23345 dx_hand_model_DW.UD_DSTATE_f0 =
23346 dx_hand_model_P.DiscreteDerivative3_ICPrevSca_m;
23347
23348 /* InitializeConditions for RateTransition: '<S118>/Rate Transition' */
23349 dx_hand_model_DW.RateTransition_Buffer0_no =
23350 dx_hand_model_P.RateTransition_InitialCondit_ie;
23351
23352 /* InitializeConditions for UnitDelay: '<S112>/UD' */
23353 dx_hand_model_DW.UD_DSTATE_dy =
23354 dx_hand_model_P.DiscreteDerivative1_ICPrevSca_p;
23355
23356 /* InitializeConditions for RateTransition: '<S116>/Rate Transition' */
23357 dx_hand_model_DW.RateTransition_Buffer0_lh =
23358 dx_hand_model_P.RateTransition_InitialCondit_f5;
23359
23360 /* InitializeConditions for RateTransition: '<S79>/Rate Transition' */
23361 dx_hand_model_DW.RateTransition_Buffer0_ex =
23362 dx_hand_model_P.RateTransition_InitialCondit_co;
23363
23364 /* InitializeConditions for RateTransition: '<S109>/Rate Transition' */
23365 dx_hand_model_DW.RateTransition_Buffer0_bv =
23366 dx_hand_model_P.RateTransition_InitialCondit_j1;
23367
23368 /* InitializeConditions for RateTransition: '<S108>/Rate Transition' */
23369 dx_hand_model_DW.RateTransition_Buffer0_co =
23370 dx_hand_model_P.RateTransition_InitialConditi_k;
23371
23372 /* InitializeConditions for RateTransition: '<S107>/Rate Transition' */
23373 dx_hand_model_DW.RateTransition_Buffer0_py =
23374 dx_hand_model_P.RateTransition_InitialCondit_ks;
23375
23376 /* InitializeConditions for RateTransition: '<S89>/Rate Transition' */
23377 dx_hand_model_DW.RateTransition_Buffer0_gb =
23378 dx_hand_model_P.RateTransition_InitialCondit_h4;
23379
23380 /* InitializeConditions for RateTransition: '<S124>/Rate Transition' */
23381 dx_hand_model_DW.RateTransition_Buffer0_iv =
23382 dx_hand_model_P.RateTransition_InitialCondit_n1;
23383
23384 /* InitializeConditions for DiscreteTransferFcn: '<S131>/Filt 4' */
23385 dx_hand_model_DW.Filt4_states_k[0] = dx_hand_model_P.Filt4_InitialStates_c;
23386 dx_hand_model_DW.Filt4_states_k[1] = dx_hand_model_P.Filt4_InitialStates_c;
23387 dx_hand_model_DW.Filt4_states_k[2] = dx_hand_model_P.Filt4_InitialStates_c;
23388 dx_hand_model_DW.Filt4_states_k[3] = dx_hand_model_P.Filt4_InitialStates_c;
23389
23390 /* InitializeConditions for RateTransition: '<S131>/Rate Transition' */
23391 dx_hand_model_DW.RateTransition_Buffer0_be =
23392 dx_hand_model_P.RateTransition_InitialCondit_by;
23393
23394 /* InitializeConditions for RateTransition: '<S139>/Rate Transition' */
23395 dx_hand_model_DW.RateTransition_Buffer0_bz =
23396 dx_hand_model_P.RateTransition_InitialCondit_ey;
23397
23398 /* InitializeConditions for RateTransition: '<S128>/Rate Transition' */
23399 for (i = 0; i < 5; i++) {
23400 dx_hand_model_DW.RateTransition_Buffer0_k3[i] =
23401 dx_hand_model_P.RateTransition_InitialCondit_kp;
23402 }
23403
23404 /* End of InitializeConditions for RateTransition: '<S128>/Rate Transition' */
23405
23406 /* InitializeConditions for UnitDelay: '<S127>/Unit Delay3' */
23407 dx_hand_model_DW.UnitDelay3_DSTATE_kr[0] =
23408 dx_hand_model_P.UnitDelay3_InitialCondition_eg[0];
23409 dx_hand_model_DW.UnitDelay3_DSTATE_kr[1] =
23410 dx_hand_model_P.UnitDelay3_InitialCondition_eg[1];
23411
23412 /* InitializeConditions for UnitDelay: '<S127>/Unit Delay1' */
23413 dx_hand_model_DW.UnitDelay1_DSTATE_g =
23414 dx_hand_model_P.UnitDelay1_InitialCondition_dx;
23415
23416 /* InitializeConditions for Memory: '<S131>/Memory' */
23417 dx_hand_model_DW.Memory_PreviousInput_kw[0] =
23418 dx_hand_model_P.Memory_InitialCondition_a[0];
23419 dx_hand_model_DW.Memory_PreviousInput_kw[1] =
23420 dx_hand_model_P.Memory_InitialCondition_a[1];
23421 dx_hand_model_DW.Memory_PreviousInput_kw[2] =
23422 dx_hand_model_P.Memory_InitialCondition_a[2];
23423 dx_hand_model_DW.Memory_PreviousInput_kw[3] =
23424 dx_hand_model_P.Memory_InitialCondition_a[3];
23425
23426 /* InitializeConditions for RateTransition: '<S164>/Rate Transition' */
23427 dx_hand_model_DW.RateTransition_Buffer0_gk =
23428 dx_hand_model_P.RateTransition_InitialCondit_nj;
23429
23430 /* InitializeConditions for DiscreteTransferFcn: '<S30>/Filt 4' */
23431 dx_hand_model_DW.Filt4_states_i = dx_hand_model_P.Filt4_InitialStates_i;
23432
23433 /* InitializeConditions for RateTransition: '<S134>/Rate Transition' */
23434 dx_hand_model_DW.RateTransition_Buffer0_o =
23435 dx_hand_model_P.RateTransition_InitialCondit_da;
23436
23437 /* InitializeConditions for RateTransition: '<S165>/Rate Transition' */
23438 dx_hand_model_DW.RateTransition_Buffer0_ml =
23439 dx_hand_model_P.RateTransition_InitialCondit_oe;
23440
23441 /* InitializeConditions for RateTransition: '<S135>/Rate Transition' */
23442 dx_hand_model_DW.RateTransition_Buffer0_hy =
23443 dx_hand_model_P.RateTransition_InitialCondit_hg;
23444
23445 /* InitializeConditions for RateTransition: '<S166>/Rate Transition' */
23446 dx_hand_model_DW.RateTransition_Buffer0_bh =
23447 dx_hand_model_P.RateTransition_InitialCondit_ag;
23448
23449 /* InitializeConditions for UnitDelay: '<S158>/UD' */
23450 dx_hand_model_DW.UD_DSTATE_c =
23451 dx_hand_model_P.DiscreteDerivative2_ICPrevSca_o;
23452
23453 /* InitializeConditions for RateTransition: '<S162>/Rate Transition' */
23454 dx_hand_model_DW.RateTransition_Buffer0_kj =
23455 dx_hand_model_P.RateTransition_InitialCondit_of;
23456
23457 /* InitializeConditions for UnitDelay: '<S156>/UD' */
23458 dx_hand_model_DW.UD_DSTATE_ld =
23459 dx_hand_model_P.DiscreteDerivative_ICPrevScal_m;
23460
23461 /* InitializeConditions for RateTransition: '<S167>/Rate Transition' */
23462 dx_hand_model_DW.RateTransition_Buffer0_bl =
23463 dx_hand_model_P.RateTransition_InitialCondit_nc;
23464
23465 /* InitializeConditions for UnitDelay: '<S159>/UD' */
23466 dx_hand_model_DW.UD_DSTATE_i =
23467 dx_hand_model_P.DiscreteDerivative3_ICPrevSca_h;
23468
23469 /* InitializeConditions for RateTransition: '<S163>/Rate Transition' */
23470 dx_hand_model_DW.RateTransition_Buffer0_hj =
23471 dx_hand_model_P.RateTransition_InitialCondit_gk;
23472
23473 /* InitializeConditions for UnitDelay: '<S157>/UD' */
23474 dx_hand_model_DW.UD_DSTATE_a =
23475 dx_hand_model_P.DiscreteDerivative1_ICPrevSc_pm;
23476
23477 /* InitializeConditions for RateTransition: '<S161>/Rate Transition' */
23478 dx_hand_model_DW.RateTransition_Buffer0_pe =
23479 dx_hand_model_P.RateTransition_InitialCondit_e4;
23480
23481 /* InitializeConditions for RateTransition: '<S126>/Rate Transition' */
23482 dx_hand_model_DW.RateTransition_Buffer0_li =
23483 dx_hand_model_P.RateTransition_InitialCondit_bl;
23484
23485 /* InitializeConditions for RateTransition: '<S154>/Rate Transition' */
23486 dx_hand_model_DW.RateTransition_Buffer0_e0 =
23487 dx_hand_model_P.RateTransition_InitialCondit_ee;
23488
23489 /* InitializeConditions for RateTransition: '<S153>/Rate Transition' */
23490 dx_hand_model_DW.RateTransition_Buffer0_h3 =
23491 dx_hand_model_P.RateTransition_InitialCondit_dj;
23492
23493 /* InitializeConditions for RateTransition: '<S152>/Rate Transition' */
23494 dx_hand_model_DW.RateTransition_Buffer0_kr =
23495 dx_hand_model_P.RateTransition_InitialCondit_od;
23496
23497 /* InitializeConditions for RateTransition: '<S136>/Rate Transition' */
23498 dx_hand_model_DW.RateTransition_Buffer0_mx =
23499 dx_hand_model_P.RateTransition_InitialCondit_fm;
23500
23501 /* InitializeConditions for RateTransition: '<S125>/Rate Transition' */
23502 dx_hand_model_DW.RateTransition_Buffer0_eg =
23503 dx_hand_model_P.RateTransition_InitialCondit_kt;
23504
23505 /* InitializeConditions for RateTransition: '<S169>/Rate Transition' */
23506 dx_hand_model_DW.RateTransition_Buffer0_nv =
23507 dx_hand_model_P.RateTransition_InitialCondit_ia;
23508
23509 /* InitializeConditions for DiscreteTransferFcn: '<S176>/Filt 4' */
23510 dx_hand_model_DW.Filt4_states_p3[0] = dx_hand_model_P.Filt4_InitialStates_a;
23511 dx_hand_model_DW.Filt4_states_p3[1] = dx_hand_model_P.Filt4_InitialStates_a;
23512 dx_hand_model_DW.Filt4_states_p3[2] = dx_hand_model_P.Filt4_InitialStates_a;
23513 dx_hand_model_DW.Filt4_states_p3[3] = dx_hand_model_P.Filt4_InitialStates_a;
23514
23515 /* InitializeConditions for RateTransition: '<S176>/Rate Transition' */
23516 dx_hand_model_DW.RateTransition_Buffer0_ad =
23517 dx_hand_model_P.RateTransition_InitialCondit_lj;
23518
23519 /* InitializeConditions for RateTransition: '<S184>/Rate Transition' */
23520 dx_hand_model_DW.RateTransition_Buffer0_or =
23521 dx_hand_model_P.RateTransition_InitialCondit_fv;
23522
23523 /* InitializeConditions for RateTransition: '<S173>/Rate Transition' */
23524 for (i = 0; i < 5; i++) {
23525 dx_hand_model_DW.RateTransition_Buffer0_pk[i] =
23526 dx_hand_model_P.RateTransition_InitialCondit_dt;
23527 }
23528
23529 /* End of InitializeConditions for RateTransition: '<S173>/Rate Transition' */
23530
23531 /* InitializeConditions for UnitDelay: '<S172>/Unit Delay3' */
23532 dx_hand_model_DW.UnitDelay3_DSTATE_a[0] =
23533 dx_hand_model_P.UnitDelay3_InitialCondition_p[0];
23534 dx_hand_model_DW.UnitDelay3_DSTATE_a[1] =
23535 dx_hand_model_P.UnitDelay3_InitialCondition_p[1];
23536
23537 /* InitializeConditions for UnitDelay: '<S172>/Unit Delay1' */
23538 dx_hand_model_DW.UnitDelay1_DSTATE_i =
23539 dx_hand_model_P.UnitDelay1_InitialCondition_e;
23540
23541 /* InitializeConditions for Memory: '<S176>/Memory' */
23542 dx_hand_model_DW.Memory_PreviousInput_b[0] =
23543 dx_hand_model_P.Memory_InitialCondition_i[0];
23544 dx_hand_model_DW.Memory_PreviousInput_b[1] =
23545 dx_hand_model_P.Memory_InitialCondition_i[1];
23546 dx_hand_model_DW.Memory_PreviousInput_b[2] =
23547 dx_hand_model_P.Memory_InitialCondition_i[2];
23548 dx_hand_model_DW.Memory_PreviousInput_b[3] =
23549 dx_hand_model_P.Memory_InitialCondition_i[3];
23550
23551 /* InitializeConditions for RateTransition: '<S209>/Rate Transition' */
23552 dx_hand_model_DW.RateTransition_Buffer0_jt =
23553 dx_hand_model_P.RateTransition_InitialCondit_an;
23554
23555 /* InitializeConditions for DiscreteTransferFcn: '<S31>/Filt 4' */
23556 dx_hand_model_DW.Filt4_states_h = dx_hand_model_P.Filt4_InitialStates_n5;
23557
23558 /* InitializeConditions for RateTransition: '<S179>/Rate Transition' */
23559 dx_hand_model_DW.RateTransition_Buffer0_oq =
23560 dx_hand_model_P.RateTransition_InitialCondit_fs;
23561
23562 /* InitializeConditions for RateTransition: '<S210>/Rate Transition' */
23563 dx_hand_model_DW.RateTransition_Buffer0_im =
23564 dx_hand_model_P.RateTransition_InitialCondit_do;
23565
23566 /* InitializeConditions for RateTransition: '<S180>/Rate Transition' */
23567 dx_hand_model_DW.RateTransition_Buffer0_ea =
23568 dx_hand_model_P.RateTransition_InitialCondit_dw;
23569
23570 /* InitializeConditions for RateTransition: '<S211>/Rate Transition' */
23571 dx_hand_model_DW.RateTransition_Buffer0_kpx =
23572 dx_hand_model_P.RateTransition_InitialCondit_lr;
23573
23574 /* InitializeConditions for UnitDelay: '<S203>/UD' */
23575 dx_hand_model_DW.UD_DSTATE_j =
23576 dx_hand_model_P.DiscreteDerivative2_ICPrevSca_i;
23577
23578 /* InitializeConditions for RateTransition: '<S207>/Rate Transition' */
23579 dx_hand_model_DW.RateTransition_Buffer0_pu =
23580 dx_hand_model_P.RateTransition_InitialCondit_gs;
23581
23582 /* InitializeConditions for UnitDelay: '<S201>/UD' */
23583 dx_hand_model_DW.UD_DSTATE_ds =
23584 dx_hand_model_P.DiscreteDerivative_ICPrevScal_b;
23585
23586 /* InitializeConditions for RateTransition: '<S212>/Rate Transition' */
23587 dx_hand_model_DW.RateTransition_Buffer0_fb =
23588 dx_hand_model_P.RateTransition_InitialCondit_mz;
23589
23590 /* InitializeConditions for UnitDelay: '<S204>/UD' */
23591 dx_hand_model_DW.UD_DSTATE_m =
23592 dx_hand_model_P.DiscreteDerivative3_ICPrevSca_j;
23593
23594 /* InitializeConditions for RateTransition: '<S208>/Rate Transition' */
23595 dx_hand_model_DW.RateTransition_Buffer0_ox =
23596 dx_hand_model_P.RateTransition_InitialCondit_gn;
23597
23598 /* InitializeConditions for UnitDelay: '<S202>/UD' */
23599 dx_hand_model_DW.UD_DSTATE_k =
23600 dx_hand_model_P.DiscreteDerivative1_ICPrevSca_n;
23601
23602 /* InitializeConditions for RateTransition: '<S206>/Rate Transition' */
23603 dx_hand_model_DW.RateTransition_Buffer0_d5 =
23604 dx_hand_model_P.RateTransition_InitialCondit_ez;
23605
23606 /* InitializeConditions for RateTransition: '<S171>/Rate Transition' */
23607 dx_hand_model_DW.RateTransition_Buffer0_ns =
23608 dx_hand_model_P.RateTransition_InitialCondit_g5;
23609
23610 /* InitializeConditions for RateTransition: '<S199>/Rate Transition' */
23611 dx_hand_model_DW.RateTransition_Buffer0_ap =
23612 dx_hand_model_P.RateTransition_InitialCondit_az;
23613
23614 /* InitializeConditions for RateTransition: '<S198>/Rate Transition' */
23615 dx_hand_model_DW.RateTransition_Buffer0_jz =
23616 dx_hand_model_P.RateTransition_InitialCondit_jy;
23617
23618 /* InitializeConditions for RateTransition: '<S197>/Rate Transition' */
23619 dx_hand_model_DW.RateTransition_Buffer0_lf =
23620 dx_hand_model_P.RateTransition_InitialCondit_fx;
23621
23622 /* InitializeConditions for RateTransition: '<S181>/Rate Transition' */
23623 dx_hand_model_DW.RateTransition_Buffer0_eb =
23624 dx_hand_model_P.RateTransition_InitialCondi_hgr;
23625
23626 /* InitializeConditions for RateTransition: '<S170>/Rate Transition' */
23627 dx_hand_model_DW.RateTransition_Buffer0_m1 =
23628 dx_hand_model_P.RateTransition_InitialCondit_px;
23629
23630 /* InitializeConditions for RateTransition: '<S279>/Rate Transition' */
23631 dx_hand_model_DW.RateTransition_Buffer0_ly =
23632 dx_hand_model_P.RateTransition_InitialCondit_ch;
23633
23634 /* InitializeConditions for RateTransition: '<S280>/Rate Transition' */
23635 dx_hand_model_DW.RateTransition_Buffer0_n4 =
23636 dx_hand_model_P.RateTransition_InitialCondit_lb;
23637
23638 /* InitializeConditions for RateTransition: '<S281>/Rate Transition' */
23639 dx_hand_model_DW.RateTransition_Buffer0_gs =
23640 dx_hand_model_P.RateTransition_InitialCondit_es;
23641
23642 /* InitializeConditions for RateTransition: '<S268>/Rate Transition' */
23643 dx_hand_model_DW.RateTransition_Buffer0_kx =
23644 dx_hand_model_P.RateTransition_InitialCondit_hc;
23645
23646 /* InitializeConditions for RateTransition: '<S269>/Rate Transition' */
23647 dx_hand_model_DW.RateTransition_Buffer0_dh =
23648 dx_hand_model_P.RateTransition_InitialCondit_mq;
23649
23650 /* InitializeConditions for RateTransition: '<S270>/Rate Transition' */
23651 dx_hand_model_DW.RateTransition_Buffer0_pl =
23652 dx_hand_model_P.RateTransition_InitialCondit_dv;
23653
23654 /* InitializeConditions for RateTransition: '<S271>/Rate Transition' */
23655 dx_hand_model_DW.RateTransition_Buffer0_ck =
23656 dx_hand_model_P.RateTransition_InitialCondit_n3;
23657
23658 /* InitializeConditions for RateTransition: '<S272>/Rate Transition' */
23659 dx_hand_model_DW.RateTransition_Buffer0_aw =
23660 dx_hand_model_P.RateTransition_InitialCondit_ap;
23661
23662 /* InitializeConditions for RateTransition: '<S282>/Rate Transition' */
23663 dx_hand_model_DW.RateTransition_Buffer0_l4 =
23664 dx_hand_model_P.RateTransition_InitialCondit_p1;
23665
23666 /* InitializeConditions for RateTransition: '<S283>/Rate Transition' */
23667 dx_hand_model_DW.RateTransition_Buffer0_eq =
23668 dx_hand_model_P.RateTransition_InitialCondit_hr;
23669
23670 /* InitializeConditions for RateTransition: '<S285>/Rate Transition' */
23671 dx_hand_model_DW.RateTransition_Buffer0_dhx =
23672 dx_hand_model_P.RateTransition_InitialCondit_ab;
23673
23674 /* InitializeConditions for Memory: '<S243>/Memory' */
23675 dx_hand_model_DW.Memory_PreviousInput_e[0] =
23676 dx_hand_model_P.Memory_InitialCondition_gv[0];
23677
23678 /* InitializeConditions for Memory: '<S243>/Memory1' */
23679 dx_hand_model_DW.Memory1_PreviousInput[0] =
23680 dx_hand_model_P.Memory1_InitialCondition[0];
23681
23682 /* InitializeConditions for Memory: '<S243>/Memory2' */
23683 dx_hand_model_DW.Memory2_PreviousInput[0] =
23684 dx_hand_model_P.Memory2_InitialCondition[0];
23685
23686 /* InitializeConditions for Memory: '<S243>/Memory' */
23687 dx_hand_model_DW.Memory_PreviousInput_e[1] =
23688 dx_hand_model_P.Memory_InitialCondition_gv[1];
23689
23690 /* InitializeConditions for Memory: '<S243>/Memory1' */
23691 dx_hand_model_DW.Memory1_PreviousInput[1] =
23692 dx_hand_model_P.Memory1_InitialCondition[1];
23693
23694 /* InitializeConditions for Memory: '<S243>/Memory2' */
23695 dx_hand_model_DW.Memory2_PreviousInput[1] =
23696 dx_hand_model_P.Memory2_InitialCondition[1];
23697
23698 /* InitializeConditions for RateTransition: '<S284>/Rate Transition' */
23699 dx_hand_model_DW.RateTransition_Buffer0_of =
23700 dx_hand_model_P.RateTransition_InitialCondit_kb;
23701
23702 /* InitializeConditions for RateTransition: '<S314>/Rate Transition' */
23703 dx_hand_model_DW.RateTransition_Buffer0_la =
23704 dx_hand_model_P.RateTransition_InitialCondi_dfu;
23705
23706 /* InitializeConditions for RateTransition: '<S266>/Rate Transition' */
23707 dx_hand_model_DW.RateTransition_Buffer0_pq =
23708 dx_hand_model_P.RateTransition_InitialCondit_i5;
23709
23710 /* InitializeConditions for RateTransition: '<S267>/Rate Transition' */
23711 dx_hand_model_DW.RateTransition_Buffer0_ky =
23712 dx_hand_model_P.RateTransition_InitialCondi_hjl;
23713
23714 /* InitializeConditions for RateTransition: '<S10>/Rate Transition' */
23715 dx_hand_model_DW.RateTransition_Buffer0_ma =
23716 dx_hand_model_P.RateTransition_InitialCondit_nq;
23717
23718 /* InitializeConditions for RateTransition: '<S10>/Rate Transition1' */
23719 dx_hand_model_DW.RateTransition1_Buffer0_g =
23720 dx_hand_model_P.RateTransition1_InitialCondit_j;
23721
23722 /* InitializeConditions for Delay: '<S10>/Delay' */
23723 for (i = 0; i < 1200; i++) {
23724 dx_hand_model_DW.Delay_DSTATE_j[i] =
23725 dx_hand_model_P.Delay_InitialCondition_o;
23726 }
23727
23728 /* End of InitializeConditions for Delay: '<S10>/Delay' */
23729
23730 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 6' */
23731 dx_hand_model_DW.Filt6_states = dx_hand_model_P.Filt6_InitialStates;
23732
23733 /* InitializeConditions for RateTransition: '<S221>/Rate Transition' */
23734 dx_hand_model_DW.RateTransition_Buffer0_m3 =
23735 dx_hand_model_P.RateTransition_InitialCondit_gu;
23736
23737 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 5' */
23738 dx_hand_model_DW.Filt5_states = dx_hand_model_P.Filt5_InitialStates;
23739
23740 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 4' */
23741 dx_hand_model_DW.Filt4_states_gz = dx_hand_model_P.Filt4_InitialStates_eym;
23742
23743 /* InitializeConditions for RateTransition: '<S222>/Rate Transition' */
23744 dx_hand_model_DW.RateTransition_Buffer0_ax =
23745 dx_hand_model_P.RateTransition_InitialCondit_ep;
23746
23747 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 3' */
23748 dx_hand_model_DW.Filt3_states = dx_hand_model_P.Filt3_InitialStates;
23749
23750 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 2' */
23751 dx_hand_model_DW.Filt2_states = dx_hand_model_P.Filt2_InitialStates;
23752
23753 /* InitializeConditions for RateTransition: '<S223>/Rate Transition' */
23754 dx_hand_model_DW.RateTransition_Buffer0_pa =
23755 dx_hand_model_P.RateTransition_InitialCondit_dy;
23756
23757 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 1' */
23758 dx_hand_model_DW.Filt1_states = dx_hand_model_P.Filt1_InitialStates;
23759
23760 /* InitializeConditions for RateTransition: '<S224>/Rate Transition' */
23761 dx_hand_model_DW.RateTransition_Buffer0_kc =
23762 dx_hand_model_P.RateTransition_InitialCondi_mrn;
23763
23764 /* InitializeConditions for RateTransition: '<S225>/Rate Transition' */
23765 dx_hand_model_DW.RateTransition_Buffer0_c2 =
23766 dx_hand_model_P.RateTransition_InitialCondit_oh;
23767
23768 /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 8' */
23769 dx_hand_model_DW.Filt8_states = dx_hand_model_P.Filt8_InitialStates;
23770
23771 /* InitializeConditions for RateTransition: '<S226>/Rate Transition' */
23772 dx_hand_model_DW.RateTransition_Buffer0_o0 =
23773 dx_hand_model_P.RateTransition_InitialCondit_jn;
23774
23775 /* SystemInitialize for Atomic SubSystem: '<S20>/Subscribe1' */
23776 /* SystemInitialize for Enabled SubSystem: '<S25>/Enabled Subsystem' */
23777 /* SystemInitialize for Outport: '<S32>/Out1' */
23778 dx_hand_model_B.In1 = dx_hand_model_P.Out1_Y0;
23779
23780 /* End of SystemInitialize for SubSystem: '<S25>/Enabled Subsystem' */
23781 /* End of SystemInitialize for SubSystem: '<S20>/Subscribe1' */
23782
23783 /* SystemInitialize for Atomic SubSystem: '<S19>/Subscribe' */
23784 /* SystemInitialize for Enabled SubSystem: '<S21>/Enabled Subsystem' */
23785 /* SystemInitialize for Outport: '<S22>/Out1' */
23786 dx_hand_model_B.In1_e = dx_hand_model_P.Out1_Y0_p;
23787
23788 /* End of SystemInitialize for SubSystem: '<S21>/Enabled Subsystem' */
23789 /* End of SystemInitialize for SubSystem: '<S19>/Subscribe' */
23790 }
23791}
23792
23793/* Model terminate function */
23794void dx_hand_model_terminate(void)
23795{
23796 char_T *sErr;
23797
23798 /* Start for MATLABSystem: '<S33>/Get Parameter3' */
23799 if (dx_hand_model_DW.obj_e2.isInitialized == 1) {
23800 dx_hand_model_DW.obj_e2.isInitialized = 2;
23801 }
23802
23803 /* End of Start for MATLABSystem: '<S33>/Get Parameter3' */
23804
23805 /* Terminate for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */
23806 sErr = GetErrorBuffer(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
23807 LibTerminate(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
23808 if (*sErr != 0) {
23809 rtmSetErrorStatus(dx_hand_model_M, sErr);
23810 rtmSetStopRequested(dx_hand_model_M, 1);
23811 }
23812
23813 LibDestroy(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U], 0);
23814 DestroyUDPInterface(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);
23815
23816 /* End of Terminate for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */
23817
23818 /* Terminate for Atomic SubSystem: '<S20>/Subscribe1' */
23819 /* Start for MATLABSystem: '<S25>/SourceBlock' */
23820 if (dx_hand_model_DW.obj_ig.isInitialized == 1) {
23821 dx_hand_model_DW.obj_ig.isInitialized = 2;
23822 }
23823
23824 /* End of Start for MATLABSystem: '<S25>/SourceBlock' */
23825 /* End of Terminate for SubSystem: '<S20>/Subscribe1' */
23826
23827 /* Terminate for Atomic SubSystem: '<S19>/Subscribe' */
23828 /* Start for MATLABSystem: '<S21>/SourceBlock' */
23829 if (dx_hand_model_DW.obj_ct.isInitialized == 1) {
23830 dx_hand_model_DW.obj_ct.isInitialized = 2;
23831 }
23832
23833 /* End of Start for MATLABSystem: '<S21>/SourceBlock' */
23834 /* End of Terminate for SubSystem: '<S19>/Subscribe' */
23835
23836 /* Start for MATLABSystem: '<S34>/Get Parameter3' */
23837 if (dx_hand_model_DW.obj_p3.isInitialized == 1) {
23838 dx_hand_model_DW.obj_p3.isInitialized = 2;
23839 }
23840
23841 /* End of Start for MATLABSystem: '<S34>/Get Parameter3' */
23842
23843 /* Start for MATLABSystem: '<S46>/Get Parameter3' */
23844 if (dx_hand_model_DW.obj_me.isInitialized == 1) {
23845 dx_hand_model_DW.obj_me.isInitialized = 2;
23846 }
23847
23848 /* End of Start for MATLABSystem: '<S46>/Get Parameter3' */
23849
23850 /* Start for MATLABSystem: '<S47>/Get Parameter3' */
23851 if (dx_hand_model_DW.obj_oe.isInitialized == 1) {
23852 dx_hand_model_DW.obj_oe.isInitialized = 2;
23853 }
23854
23855 /* End of Start for MATLABSystem: '<S47>/Get Parameter3' */
23856
23857 /* Start for MATLABSystem: '<S45>/Get Parameter3' */
23858 if (dx_hand_model_DW.obj_ev.isInitialized == 1) {
23859 dx_hand_model_DW.obj_ev.isInitialized = 2;
23860 }
23861
23862 /* End of Start for MATLABSystem: '<S45>/Get Parameter3' */
23863
23864 /* Start for MATLABSystem: '<S50>/Set Parameter' */
23865 if (dx_hand_model_DW.obj_b1.isInitialized == 1) {
23866 dx_hand_model_DW.obj_b1.isInitialized = 2;
23867 }
23868
23869 /* End of Start for MATLABSystem: '<S50>/Set Parameter' */
23870
23871 /* Start for MATLABSystem: '<S50>/Get Parameter3' */
23872 if (dx_hand_model_DW.obj_m2.isInitialized == 1) {
23873 dx_hand_model_DW.obj_m2.isInitialized = 2;
23874 }
23875
23876 /* End of Start for MATLABSystem: '<S50>/Get Parameter3' */
23877
23878 /* Start for MATLABSystem: '<S58>/Get Parameter' */
23879 if (dx_hand_model_DW.obj_hfj.isInitialized == 1) {
23880 dx_hand_model_DW.obj_hfj.isInitialized = 2;
23881 }
23882
23883 /* End of Start for MATLABSystem: '<S58>/Get Parameter' */
23884
23885 /* Start for MATLABSystem: '<S58>/Get Parameter1' */
23886 if (dx_hand_model_DW.obj_jb.isInitialized == 1) {
23887 dx_hand_model_DW.obj_jb.isInitialized = 2;
23888 }
23889
23890 /* End of Start for MATLABSystem: '<S58>/Get Parameter1' */
23891
23892 /* Start for MATLABSystem: '<S58>/Get Parameter2' */
23893 if (dx_hand_model_DW.obj_mh.isInitialized == 1) {
23894 dx_hand_model_DW.obj_mh.isInitialized = 2;
23895 }
23896
23897 /* End of Start for MATLABSystem: '<S58>/Get Parameter2' */
23898
23899 /* Start for MATLABSystem: '<S58>/Get Parameter3' */
23900 if (dx_hand_model_DW.obj_fc.isInitialized == 1) {
23901 dx_hand_model_DW.obj_fc.isInitialized = 2;
23902 }
23903
23904 /* End of Start for MATLABSystem: '<S58>/Get Parameter3' */
23905
23906 /* Start for MATLABSystem: '<S58>/Get Parameter4' */
23907 if (dx_hand_model_DW.obj_ju.isInitialized == 1) {
23908 dx_hand_model_DW.obj_ju.isInitialized = 2;
23909 }
23910
23911 /* End of Start for MATLABSystem: '<S58>/Get Parameter4' */
23912
23913 /* Start for MATLABSystem: '<S66>/Get Parameter3' */
23914 if (dx_hand_model_DW.obj_al.isInitialized == 1) {
23915 dx_hand_model_DW.obj_al.isInitialized = 2;
23916 }
23917
23918 /* End of Start for MATLABSystem: '<S66>/Get Parameter3' */
23919
23920 /* Start for MATLABSystem: '<S67>/Get Parameter3' */
23921 if (dx_hand_model_DW.obj_gbp.isInitialized == 1) {
23922 dx_hand_model_DW.obj_gbp.isInitialized = 2;
23923 }
23924
23925 /* End of Start for MATLABSystem: '<S67>/Get Parameter3' */
23926
23927 /* Start for MATLABSystem: '<S68>/Get Parameter3' */
23928 if (dx_hand_model_DW.obj_i.isInitialized == 1) {
23929 dx_hand_model_DW.obj_i.isInitialized = 2;
23930 }
23931
23932 /* End of Start for MATLABSystem: '<S68>/Get Parameter3' */
23933
23934 /* Start for MATLABSystem: '<S69>/Get Parameter3' */
23935 if (dx_hand_model_DW.obj_lye.isInitialized == 1) {
23936 dx_hand_model_DW.obj_lye.isInitialized = 2;
23937 }
23938
23939 /* End of Start for MATLABSystem: '<S69>/Get Parameter3' */
23940
23941 /* Start for MATLABSystem: '<S70>/Get Parameter3' */
23942 if (dx_hand_model_DW.obj_gts.isInitialized == 1) {
23943 dx_hand_model_DW.obj_gts.isInitialized = 2;
23944 }
23945
23946 /* End of Start for MATLABSystem: '<S70>/Get Parameter3' */
23947
23948 /* Start for MATLABSystem: '<S71>/Get Parameter3' */
23949 if (dx_hand_model_DW.obj_d4.isInitialized == 1) {
23950 dx_hand_model_DW.obj_d4.isInitialized = 2;
23951 }
23952
23953 /* End of Start for MATLABSystem: '<S71>/Get Parameter3' */
23954
23955 /* Start for MATLABSystem: '<S72>/Get Parameter3' */
23956 if (dx_hand_model_DW.obj_fo.isInitialized == 1) {
23957 dx_hand_model_DW.obj_fo.isInitialized = 2;
23958 }
23959
23960 /* End of Start for MATLABSystem: '<S72>/Get Parameter3' */
23961
23962 /* Start for MATLABSystem: '<S39>/Get Parameter3' */
23963 if (dx_hand_model_DW.obj_cc.isInitialized == 1) {
23964 dx_hand_model_DW.obj_cc.isInitialized = 2;
23965 }
23966
23967 /* End of Start for MATLABSystem: '<S39>/Get Parameter3' */
23968
23969 /* Start for MATLABSystem: '<S76>/Get Parameter3' */
23970 if (dx_hand_model_DW.obj_nd.isInitialized == 1) {
23971 dx_hand_model_DW.obj_nd.isInitialized = 2;
23972 }
23973
23974 /* End of Start for MATLABSystem: '<S76>/Get Parameter3' */
23975
23976 /* Start for MATLABSystem: '<S77>/Get Parameter3' */
23977 if (dx_hand_model_DW.obj_cm.isInitialized == 1) {
23978 dx_hand_model_DW.obj_cm.isInitialized = 2;
23979 }
23980
23981 /* End of Start for MATLABSystem: '<S77>/Get Parameter3' */
23982
23983 /* Start for MATLABSystem: '<S41>/Get Parameter3' */
23984 if (dx_hand_model_DW.obj_ls.isInitialized == 1) {
23985 dx_hand_model_DW.obj_ls.isInitialized = 2;
23986 }
23987
23988 /* End of Start for MATLABSystem: '<S41>/Get Parameter3' */
23989
23990 /* Start for MATLABSystem: '<S78>/Get Parameter3' */
23991 if (dx_hand_model_DW.obj_p1.isInitialized == 1) {
23992 dx_hand_model_DW.obj_p1.isInitialized = 2;
23993 }
23994
23995 /* End of Start for MATLABSystem: '<S78>/Get Parameter3' */
23996
23997 /* Start for MATLABSystem: '<S79>/Get Parameter3' */
23998 if (dx_hand_model_DW.obj_hg.isInitialized == 1) {
23999 dx_hand_model_DW.obj_hg.isInitialized = 2;
24000 }
24001
24002 /* End of Start for MATLABSystem: '<S79>/Get Parameter3' */
24003
24004 /* Start for MATLABSystem: '<S92>/Set Parameter' */
24005 if (dx_hand_model_DW.obj_nru.isInitialized == 1) {
24006 dx_hand_model_DW.obj_nru.isInitialized = 2;
24007 }
24008
24009 /* End of Start for MATLABSystem: '<S92>/Set Parameter' */
24010
24011 /* Start for MATLABSystem: '<S92>/Get Parameter3' */
24012 if (dx_hand_model_DW.obj_aea.isInitialized == 1) {
24013 dx_hand_model_DW.obj_aea.isInitialized = 2;
24014 }
24015
24016 /* End of Start for MATLABSystem: '<S92>/Get Parameter3' */
24017
24018 /* Start for MATLABSystem: '<S102>/Get Parameter' */
24019 if (dx_hand_model_DW.obj_hu.isInitialized == 1) {
24020 dx_hand_model_DW.obj_hu.isInitialized = 2;
24021 }
24022
24023 /* End of Start for MATLABSystem: '<S102>/Get Parameter' */
24024
24025 /* Start for MATLABSystem: '<S102>/Get Parameter1' */
24026 if (dx_hand_model_DW.obj_hf.isInitialized == 1) {
24027 dx_hand_model_DW.obj_hf.isInitialized = 2;
24028 }
24029
24030 /* End of Start for MATLABSystem: '<S102>/Get Parameter1' */
24031
24032 /* Start for MATLABSystem: '<S102>/Get Parameter2' */
24033 if (dx_hand_model_DW.obj_n2.isInitialized == 1) {
24034 dx_hand_model_DW.obj_n2.isInitialized = 2;
24035 }
24036
24037 /* End of Start for MATLABSystem: '<S102>/Get Parameter2' */
24038
24039 /* Start for MATLABSystem: '<S102>/Get Parameter3' */
24040 if (dx_hand_model_DW.obj_e1.isInitialized == 1) {
24041 dx_hand_model_DW.obj_e1.isInitialized = 2;
24042 }
24043
24044 /* End of Start for MATLABSystem: '<S102>/Get Parameter3' */
24045
24046 /* Start for MATLABSystem: '<S102>/Get Parameter4' */
24047 if (dx_hand_model_DW.obj_gg.isInitialized == 1) {
24048 dx_hand_model_DW.obj_gg.isInitialized = 2;
24049 }
24050
24051 /* End of Start for MATLABSystem: '<S102>/Get Parameter4' */
24052
24053 /* Start for MATLABSystem: '<S108>/Get Parameter3' */
24054 if (dx_hand_model_DW.obj_ae1.isInitialized == 1) {
24055 dx_hand_model_DW.obj_ae1.isInitialized = 2;
24056 }
24057
24058 /* End of Start for MATLABSystem: '<S108>/Get Parameter3' */
24059
24060 /* Start for MATLABSystem: '<S109>/Get Parameter3' */
24061 if (dx_hand_model_DW.obj_pu.isInitialized == 1) {
24062 dx_hand_model_DW.obj_pu.isInitialized = 2;
24063 }
24064
24065 /* End of Start for MATLABSystem: '<S109>/Get Parameter3' */
24066
24067 /* Start for MATLABSystem: '<S107>/Get Parameter3' */
24068 if (dx_hand_model_DW.obj_gr.isInitialized == 1) {
24069 dx_hand_model_DW.obj_gr.isInitialized = 2;
24070 }
24071
24072 /* End of Start for MATLABSystem: '<S107>/Get Parameter3' */
24073
24074 /* Start for MATLABSystem: '<S116>/Get Parameter3' */
24075 if (dx_hand_model_DW.obj_pi.isInitialized == 1) {
24076 dx_hand_model_DW.obj_pi.isInitialized = 2;
24077 }
24078
24079 /* End of Start for MATLABSystem: '<S116>/Get Parameter3' */
24080
24081 /* Start for MATLABSystem: '<S117>/Get Parameter3' */
24082 if (dx_hand_model_DW.obj_k3.isInitialized == 1) {
24083 dx_hand_model_DW.obj_k3.isInitialized = 2;
24084 }
24085
24086 /* End of Start for MATLABSystem: '<S117>/Get Parameter3' */
24087
24088 /* Start for MATLABSystem: '<S118>/Get Parameter3' */
24089 if (dx_hand_model_DW.obj_lx.isInitialized == 1) {
24090 dx_hand_model_DW.obj_lx.isInitialized = 2;
24091 }
24092
24093 /* End of Start for MATLABSystem: '<S118>/Get Parameter3' */
24094
24095 /* Start for MATLABSystem: '<S119>/Get Parameter3' */
24096 if (dx_hand_model_DW.obj_mw.isInitialized == 1) {
24097 dx_hand_model_DW.obj_mw.isInitialized = 2;
24098 }
24099
24100 /* End of Start for MATLABSystem: '<S119>/Get Parameter3' */
24101
24102 /* Start for MATLABSystem: '<S120>/Get Parameter3' */
24103 if (dx_hand_model_DW.obj_fx.isInitialized == 1) {
24104 dx_hand_model_DW.obj_fx.isInitialized = 2;
24105 }
24106
24107 /* End of Start for MATLABSystem: '<S120>/Get Parameter3' */
24108
24109 /* Start for MATLABSystem: '<S121>/Get Parameter3' */
24110 if (dx_hand_model_DW.obj_ha.isInitialized == 1) {
24111 dx_hand_model_DW.obj_ha.isInitialized = 2;
24112 }
24113
24114 /* End of Start for MATLABSystem: '<S121>/Get Parameter3' */
24115
24116 /* Start for MATLABSystem: '<S122>/Get Parameter3' */
24117 if (dx_hand_model_DW.obj_ot.isInitialized == 1) {
24118 dx_hand_model_DW.obj_ot.isInitialized = 2;
24119 }
24120
24121 /* End of Start for MATLABSystem: '<S122>/Get Parameter3' */
24122
24123 /* Start for MATLABSystem: '<S84>/Get Parameter3' */
24124 if (dx_hand_model_DW.obj_h3.isInitialized == 1) {
24125 dx_hand_model_DW.obj_h3.isInitialized = 2;
24126 }
24127
24128 /* End of Start for MATLABSystem: '<S84>/Get Parameter3' */
24129
24130 /* Start for MATLABSystem: '<S87>/Get Parameter3' */
24131 if (dx_hand_model_DW.obj_bs.isInitialized == 1) {
24132 dx_hand_model_DW.obj_bs.isInitialized = 2;
24133 }
24134
24135 /* End of Start for MATLABSystem: '<S87>/Get Parameter3' */
24136
24137 /* Start for MATLABSystem: '<S88>/Get Parameter3' */
24138 if (dx_hand_model_DW.obj_hxn.isInitialized == 1) {
24139 dx_hand_model_DW.obj_hxn.isInitialized = 2;
24140 }
24141
24142 /* End of Start for MATLABSystem: '<S88>/Get Parameter3' */
24143
24144 /* Start for MATLABSystem: '<S89>/Get Parameter3' */
24145 if (dx_hand_model_DW.obj_ddh.isInitialized == 1) {
24146 dx_hand_model_DW.obj_ddh.isInitialized = 2;
24147 }
24148
24149 /* End of Start for MATLABSystem: '<S89>/Get Parameter3' */
24150
24151 /* Start for MATLABSystem: '<S124>/Get Parameter3' */
24152 if (dx_hand_model_DW.obj_pp.isInitialized == 1) {
24153 dx_hand_model_DW.obj_pp.isInitialized = 2;
24154 }
24155
24156 /* End of Start for MATLABSystem: '<S124>/Get Parameter3' */
24157
24158 /* Start for MATLABSystem: '<S125>/Get Parameter3' */
24159 if (dx_hand_model_DW.obj_ej.isInitialized == 1) {
24160 dx_hand_model_DW.obj_ej.isInitialized = 2;
24161 }
24162
24163 /* End of Start for MATLABSystem: '<S125>/Get Parameter3' */
24164
24165 /* Start for MATLABSystem: '<S126>/Get Parameter3' */
24166 if (dx_hand_model_DW.obj_hxt.isInitialized == 1) {
24167 dx_hand_model_DW.obj_hxt.isInitialized = 2;
24168 }
24169
24170 /* End of Start for MATLABSystem: '<S126>/Get Parameter3' */
24171
24172 /* Start for MATLABSystem: '<S139>/Set Parameter' */
24173 if (dx_hand_model_DW.obj_lk.isInitialized == 1) {
24174 dx_hand_model_DW.obj_lk.isInitialized = 2;
24175 }
24176
24177 /* End of Start for MATLABSystem: '<S139>/Set Parameter' */
24178
24179 /* Start for MATLABSystem: '<S139>/Get Parameter3' */
24180 if (dx_hand_model_DW.obj_lmh.isInitialized == 1) {
24181 dx_hand_model_DW.obj_lmh.isInitialized = 2;
24182 }
24183
24184 /* End of Start for MATLABSystem: '<S139>/Get Parameter3' */
24185
24186 /* Start for MATLABSystem: '<S146>/Get Parameter' */
24187 if (dx_hand_model_DW.obj_ee.isInitialized == 1) {
24188 dx_hand_model_DW.obj_ee.isInitialized = 2;
24189 }
24190
24191 /* End of Start for MATLABSystem: '<S146>/Get Parameter' */
24192
24193 /* Start for MATLABSystem: '<S146>/Get Parameter1' */
24194 if (dx_hand_model_DW.obj_ny.isInitialized == 1) {
24195 dx_hand_model_DW.obj_ny.isInitialized = 2;
24196 }
24197
24198 /* End of Start for MATLABSystem: '<S146>/Get Parameter1' */
24199
24200 /* Start for MATLABSystem: '<S146>/Get Parameter2' */
24201 if (dx_hand_model_DW.obj_jl.isInitialized == 1) {
24202 dx_hand_model_DW.obj_jl.isInitialized = 2;
24203 }
24204
24205 /* End of Start for MATLABSystem: '<S146>/Get Parameter2' */
24206
24207 /* Start for MATLABSystem: '<S146>/Get Parameter3' */
24208 if (dx_hand_model_DW.obj_bu.isInitialized == 1) {
24209 dx_hand_model_DW.obj_bu.isInitialized = 2;
24210 }
24211
24212 /* End of Start for MATLABSystem: '<S146>/Get Parameter3' */
24213
24214 /* Start for MATLABSystem: '<S146>/Get Parameter4' */
24215 if (dx_hand_model_DW.obj_dc.isInitialized == 1) {
24216 dx_hand_model_DW.obj_dc.isInitialized = 2;
24217 }
24218
24219 /* End of Start for MATLABSystem: '<S146>/Get Parameter4' */
24220
24221 /* Start for MATLABSystem: '<S153>/Get Parameter3' */
24222 if (dx_hand_model_DW.obj_lm.isInitialized == 1) {
24223 dx_hand_model_DW.obj_lm.isInitialized = 2;
24224 }
24225
24226 /* End of Start for MATLABSystem: '<S153>/Get Parameter3' */
24227
24228 /* Start for MATLABSystem: '<S154>/Get Parameter3' */
24229 if (dx_hand_model_DW.obj_ov.isInitialized == 1) {
24230 dx_hand_model_DW.obj_ov.isInitialized = 2;
24231 }
24232
24233 /* End of Start for MATLABSystem: '<S154>/Get Parameter3' */
24234
24235 /* Start for MATLABSystem: '<S152>/Get Parameter3' */
24236 if (dx_hand_model_DW.obj_mz4.isInitialized == 1) {
24237 dx_hand_model_DW.obj_mz4.isInitialized = 2;
24238 }
24239
24240 /* End of Start for MATLABSystem: '<S152>/Get Parameter3' */
24241
24242 /* Start for MATLABSystem: '<S161>/Get Parameter3' */
24243 if (dx_hand_model_DW.obj_dd.isInitialized == 1) {
24244 dx_hand_model_DW.obj_dd.isInitialized = 2;
24245 }
24246
24247 /* End of Start for MATLABSystem: '<S161>/Get Parameter3' */
24248
24249 /* Start for MATLABSystem: '<S162>/Get Parameter3' */
24250 if (dx_hand_model_DW.obj_mz.isInitialized == 1) {
24251 dx_hand_model_DW.obj_mz.isInitialized = 2;
24252 }
24253
24254 /* End of Start for MATLABSystem: '<S162>/Get Parameter3' */
24255
24256 /* Start for MATLABSystem: '<S163>/Get Parameter3' */
24257 if (dx_hand_model_DW.obj_ob.isInitialized == 1) {
24258 dx_hand_model_DW.obj_ob.isInitialized = 2;
24259 }
24260
24261 /* End of Start for MATLABSystem: '<S163>/Get Parameter3' */
24262
24263 /* Start for MATLABSystem: '<S164>/Get Parameter3' */
24264 if (dx_hand_model_DW.obj_c4.isInitialized == 1) {
24265 dx_hand_model_DW.obj_c4.isInitialized = 2;
24266 }
24267
24268 /* End of Start for MATLABSystem: '<S164>/Get Parameter3' */
24269
24270 /* Start for MATLABSystem: '<S165>/Get Parameter3' */
24271 if (dx_hand_model_DW.obj_ae.isInitialized == 1) {
24272 dx_hand_model_DW.obj_ae.isInitialized = 2;
24273 }
24274
24275 /* End of Start for MATLABSystem: '<S165>/Get Parameter3' */
24276
24277 /* Start for MATLABSystem: '<S166>/Get Parameter3' */
24278 if (dx_hand_model_DW.obj_e4.isInitialized == 1) {
24279 dx_hand_model_DW.obj_e4.isInitialized = 2;
24280 }
24281
24282 /* End of Start for MATLABSystem: '<S166>/Get Parameter3' */
24283
24284 /* Start for MATLABSystem: '<S167>/Get Parameter3' */
24285 if (dx_hand_model_DW.obj_dg.isInitialized == 1) {
24286 dx_hand_model_DW.obj_dg.isInitialized = 2;
24287 }
24288
24289 /* End of Start for MATLABSystem: '<S167>/Get Parameter3' */
24290
24291 /* Start for MATLABSystem: '<S131>/Get Parameter3' */
24292 if (dx_hand_model_DW.obj_kw.isInitialized == 1) {
24293 dx_hand_model_DW.obj_kw.isInitialized = 2;
24294 }
24295
24296 /* End of Start for MATLABSystem: '<S131>/Get Parameter3' */
24297
24298 /* Start for MATLABSystem: '<S134>/Get Parameter3' */
24299 if (dx_hand_model_DW.obj_hl.isInitialized == 1) {
24300 dx_hand_model_DW.obj_hl.isInitialized = 2;
24301 }
24302
24303 /* End of Start for MATLABSystem: '<S134>/Get Parameter3' */
24304
24305 /* Start for MATLABSystem: '<S135>/Get Parameter3' */
24306 if (dx_hand_model_DW.obj_dy.isInitialized == 1) {
24307 dx_hand_model_DW.obj_dy.isInitialized = 2;
24308 }
24309
24310 /* End of Start for MATLABSystem: '<S135>/Get Parameter3' */
24311
24312 /* Start for MATLABSystem: '<S136>/Get Parameter3' */
24313 if (dx_hand_model_DW.obj_gw.isInitialized == 1) {
24314 dx_hand_model_DW.obj_gw.isInitialized = 2;
24315 }
24316
24317 /* End of Start for MATLABSystem: '<S136>/Get Parameter3' */
24318
24319 /* Start for MATLABSystem: '<S169>/Get Parameter3' */
24320 if (dx_hand_model_DW.obj_gb.isInitialized == 1) {
24321 dx_hand_model_DW.obj_gb.isInitialized = 2;
24322 }
24323
24324 /* End of Start for MATLABSystem: '<S169>/Get Parameter3' */
24325
24326 /* Start for MATLABSystem: '<S170>/Get Parameter3' */
24327 if (dx_hand_model_DW.obj_ln.isInitialized == 1) {
24328 dx_hand_model_DW.obj_ln.isInitialized = 2;
24329 }
24330
24331 /* End of Start for MATLABSystem: '<S170>/Get Parameter3' */
24332
24333 /* Start for MATLABSystem: '<S171>/Get Parameter3' */
24334 if (dx_hand_model_DW.obj_a.isInitialized == 1) {
24335 dx_hand_model_DW.obj_a.isInitialized = 2;
24336 }
24337
24338 /* End of Start for MATLABSystem: '<S171>/Get Parameter3' */
24339
24340 /* Start for MATLABSystem: '<S184>/Set Parameter' */
24341 if (dx_hand_model_DW.obj_mo.isInitialized == 1) {
24342 dx_hand_model_DW.obj_mo.isInitialized = 2;
24343 }
24344
24345 /* End of Start for MATLABSystem: '<S184>/Set Parameter' */
24346
24347 /* Start for MATLABSystem: '<S184>/Get Parameter3' */
24348 if (dx_hand_model_DW.obj_ja.isInitialized == 1) {
24349 dx_hand_model_DW.obj_ja.isInitialized = 2;
24350 }
24351
24352 /* End of Start for MATLABSystem: '<S184>/Get Parameter3' */
24353
24354 /* Start for MATLABSystem: '<S191>/Get Parameter' */
24355 if (dx_hand_model_DW.obj_he.isInitialized == 1) {
24356 dx_hand_model_DW.obj_he.isInitialized = 2;
24357 }
24358
24359 /* End of Start for MATLABSystem: '<S191>/Get Parameter' */
24360
24361 /* Start for MATLABSystem: '<S191>/Get Parameter1' */
24362 if (dx_hand_model_DW.obj_nc.isInitialized == 1) {
24363 dx_hand_model_DW.obj_nc.isInitialized = 2;
24364 }
24365
24366 /* End of Start for MATLABSystem: '<S191>/Get Parameter1' */
24367
24368 /* Start for MATLABSystem: '<S191>/Get Parameter2' */
24369 if (dx_hand_model_DW.obj_l4.isInitialized == 1) {
24370 dx_hand_model_DW.obj_l4.isInitialized = 2;
24371 }
24372
24373 /* End of Start for MATLABSystem: '<S191>/Get Parameter2' */
24374
24375 /* Start for MATLABSystem: '<S191>/Get Parameter3' */
24376 if (dx_hand_model_DW.obj_fy.isInitialized == 1) {
24377 dx_hand_model_DW.obj_fy.isInitialized = 2;
24378 }
24379
24380 /* End of Start for MATLABSystem: '<S191>/Get Parameter3' */
24381
24382 /* Start for MATLABSystem: '<S191>/Get Parameter4' */
24383 if (dx_hand_model_DW.obj_od.isInitialized == 1) {
24384 dx_hand_model_DW.obj_od.isInitialized = 2;
24385 }
24386
24387 /* End of Start for MATLABSystem: '<S191>/Get Parameter4' */
24388
24389 /* Start for MATLABSystem: '<S198>/Get Parameter3' */
24390 if (dx_hand_model_DW.obj_oyi.isInitialized == 1) {
24391 dx_hand_model_DW.obj_oyi.isInitialized = 2;
24392 }
24393
24394 /* End of Start for MATLABSystem: '<S198>/Get Parameter3' */
24395
24396 /* Start for MATLABSystem: '<S199>/Get Parameter3' */
24397 if (dx_hand_model_DW.obj_pt.isInitialized == 1) {
24398 dx_hand_model_DW.obj_pt.isInitialized = 2;
24399 }
24400
24401 /* End of Start for MATLABSystem: '<S199>/Get Parameter3' */
24402
24403 /* Start for MATLABSystem: '<S197>/Get Parameter3' */
24404 if (dx_hand_model_DW.obj_pap.isInitialized == 1) {
24405 dx_hand_model_DW.obj_pap.isInitialized = 2;
24406 }
24407
24408 /* End of Start for MATLABSystem: '<S197>/Get Parameter3' */
24409
24410 /* Start for MATLABSystem: '<S206>/Get Parameter3' */
24411 if (dx_hand_model_DW.obj_mm.isInitialized == 1) {
24412 dx_hand_model_DW.obj_mm.isInitialized = 2;
24413 }
24414
24415 /* End of Start for MATLABSystem: '<S206>/Get Parameter3' */
24416
24417 /* Start for MATLABSystem: '<S207>/Get Parameter3' */
24418 if (dx_hand_model_DW.obj_hx.isInitialized == 1) {
24419 dx_hand_model_DW.obj_hx.isInitialized = 2;
24420 }
24421
24422 /* End of Start for MATLABSystem: '<S207>/Get Parameter3' */
24423
24424 /* Start for MATLABSystem: '<S208>/Get Parameter3' */
24425 if (dx_hand_model_DW.obj_gt.isInitialized == 1) {
24426 dx_hand_model_DW.obj_gt.isInitialized = 2;
24427 }
24428
24429 /* End of Start for MATLABSystem: '<S208>/Get Parameter3' */
24430
24431 /* Start for MATLABSystem: '<S209>/Get Parameter3' */
24432 if (dx_hand_model_DW.obj_oy.isInitialized == 1) {
24433 dx_hand_model_DW.obj_oy.isInitialized = 2;
24434 }
24435
24436 /* End of Start for MATLABSystem: '<S209>/Get Parameter3' */
24437
24438 /* Start for MATLABSystem: '<S210>/Get Parameter3' */
24439 if (dx_hand_model_DW.obj_cy.isInitialized == 1) {
24440 dx_hand_model_DW.obj_cy.isInitialized = 2;
24441 }
24442
24443 /* End of Start for MATLABSystem: '<S210>/Get Parameter3' */
24444
24445 /* Start for MATLABSystem: '<S211>/Get Parameter3' */
24446 if (dx_hand_model_DW.obj_of.isInitialized == 1) {
24447 dx_hand_model_DW.obj_of.isInitialized = 2;
24448 }
24449
24450 /* End of Start for MATLABSystem: '<S211>/Get Parameter3' */
24451
24452 /* Start for MATLABSystem: '<S212>/Get Parameter3' */
24453 if (dx_hand_model_DW.obj_lu.isInitialized == 1) {
24454 dx_hand_model_DW.obj_lu.isInitialized = 2;
24455 }
24456
24457 /* End of Start for MATLABSystem: '<S212>/Get Parameter3' */
24458
24459 /* Start for MATLABSystem: '<S176>/Get Parameter3' */
24460 if (dx_hand_model_DW.obj_m0.isInitialized == 1) {
24461 dx_hand_model_DW.obj_m0.isInitialized = 2;
24462 }
24463
24464 /* End of Start for MATLABSystem: '<S176>/Get Parameter3' */
24465
24466 /* Start for MATLABSystem: '<S179>/Get Parameter3' */
24467 if (dx_hand_model_DW.obj_hk.isInitialized == 1) {
24468 dx_hand_model_DW.obj_hk.isInitialized = 2;
24469 }
24470
24471 /* End of Start for MATLABSystem: '<S179>/Get Parameter3' */
24472
24473 /* Start for MATLABSystem: '<S180>/Get Parameter3' */
24474 if (dx_hand_model_DW.obj_ly.isInitialized == 1) {
24475 dx_hand_model_DW.obj_ly.isInitialized = 2;
24476 }
24477
24478 /* End of Start for MATLABSystem: '<S180>/Get Parameter3' */
24479
24480 /* Start for MATLABSystem: '<S181>/Get Parameter3' */
24481 if (dx_hand_model_DW.obj_nr.isInitialized == 1) {
24482 dx_hand_model_DW.obj_nr.isInitialized = 2;
24483 }
24484
24485 /* End of Start for MATLABSystem: '<S181>/Get Parameter3' */
24486
24487 /* Start for MATLABSystem: '<S240>/Set Parameter' */
24488 if (dx_hand_model_DW.obj_pb.isInitialized == 1) {
24489 dx_hand_model_DW.obj_pb.isInitialized = 2;
24490 }
24491
24492 /* End of Start for MATLABSystem: '<S240>/Set Parameter' */
24493
24494 /* Start for MATLABSystem: '<S314>/Get Parameter3' */
24495 if (dx_hand_model_DW.obj_l.isInitialized == 1) {
24496 dx_hand_model_DW.obj_l.isInitialized = 2;
24497 }
24498
24499 /* End of Start for MATLABSystem: '<S314>/Get Parameter3' */
24500
24501 /* Start for MATLABSystem: '<S315>/Get Parameter3' */
24502 if (dx_hand_model_DW.obj.isInitialized == 1) {
24503 dx_hand_model_DW.obj.isInitialized = 2;
24504 }
24505
24506 /* End of Start for MATLABSystem: '<S315>/Get Parameter3' */
24507
24508 /* Start for MATLABSystem: '<S266>/Get Parameter3' */
24509 if (dx_hand_model_DW.obj_d.isInitialized == 1) {
24510 dx_hand_model_DW.obj_d.isInitialized = 2;
24511 }
24512
24513 /* End of Start for MATLABSystem: '<S266>/Get Parameter3' */
24514
24515 /* Start for MATLABSystem: '<S267>/Get Parameter3' */
24516 if (dx_hand_model_DW.obj_jv.isInitialized == 1) {
24517 dx_hand_model_DW.obj_jv.isInitialized = 2;
24518 }
24519
24520 /* End of Start for MATLABSystem: '<S267>/Get Parameter3' */
24521
24522 /* Start for MATLABSystem: '<S268>/Set Parameter' */
24523 if (dx_hand_model_DW.obj_b3.isInitialized == 1) {
24524 dx_hand_model_DW.obj_b3.isInitialized = 2;
24525 }
24526
24527 /* End of Start for MATLABSystem: '<S268>/Set Parameter' */
24528
24529 /* Start for MATLABSystem: '<S268>/Get Parameter3' */
24530 if (dx_hand_model_DW.obj_mk.isInitialized == 1) {
24531 dx_hand_model_DW.obj_mk.isInitialized = 2;
24532 }
24533
24534 /* End of Start for MATLABSystem: '<S268>/Get Parameter3' */
24535
24536 /* Start for MATLABSystem: '<S269>/Set Parameter' */
24537 if (dx_hand_model_DW.obj_jq.isInitialized == 1) {
24538 dx_hand_model_DW.obj_jq.isInitialized = 2;
24539 }
24540
24541 /* End of Start for MATLABSystem: '<S269>/Set Parameter' */
24542
24543 /* Start for MATLABSystem: '<S269>/Get Parameter3' */
24544 if (dx_hand_model_DW.obj_jc.isInitialized == 1) {
24545 dx_hand_model_DW.obj_jc.isInitialized = 2;
24546 }
24547
24548 /* End of Start for MATLABSystem: '<S269>/Get Parameter3' */
24549
24550 /* Start for MATLABSystem: '<S270>/Set Parameter' */
24551 if (dx_hand_model_DW.obj_aq.isInitialized == 1) {
24552 dx_hand_model_DW.obj_aq.isInitialized = 2;
24553 }
24554
24555 /* End of Start for MATLABSystem: '<S270>/Set Parameter' */
24556
24557 /* Start for MATLABSystem: '<S270>/Get Parameter3' */
24558 if (dx_hand_model_DW.obj_e.isInitialized == 1) {
24559 dx_hand_model_DW.obj_e.isInitialized = 2;
24560 }
24561
24562 /* End of Start for MATLABSystem: '<S270>/Get Parameter3' */
24563
24564 /* Start for MATLABSystem: '<S271>/Set Parameter' */
24565 if (dx_hand_model_DW.obj_mg.isInitialized == 1) {
24566 dx_hand_model_DW.obj_mg.isInitialized = 2;
24567 }
24568
24569 /* End of Start for MATLABSystem: '<S271>/Set Parameter' */
24570
24571 /* Start for MATLABSystem: '<S271>/Get Parameter3' */
24572 if (dx_hand_model_DW.obj_b.isInitialized == 1) {
24573 dx_hand_model_DW.obj_b.isInitialized = 2;
24574 }
24575
24576 /* End of Start for MATLABSystem: '<S271>/Get Parameter3' */
24577
24578 /* Start for MATLABSystem: '<S272>/Set Parameter' */
24579 if (dx_hand_model_DW.obj_di.isInitialized == 1) {
24580 dx_hand_model_DW.obj_di.isInitialized = 2;
24581 }
24582
24583 /* End of Start for MATLABSystem: '<S272>/Set Parameter' */
24584
24585 /* Start for MATLABSystem: '<S272>/Get Parameter3' */
24586 if (dx_hand_model_DW.obj_g.isInitialized == 1) {
24587 dx_hand_model_DW.obj_g.isInitialized = 2;
24588 }
24589
24590 /* End of Start for MATLABSystem: '<S272>/Get Parameter3' */
24591
24592 /* Start for MATLABSystem: '<S230>/Get Parameter' */
24593 if (dx_hand_model_DW.obj_p.isInitialized == 1) {
24594 dx_hand_model_DW.obj_p.isInitialized = 2;
24595 }
24596
24597 /* End of Start for MATLABSystem: '<S230>/Get Parameter' */
24598
24599 /* Start for MATLABSystem: '<S230>/Get Parameter2' */
24600 if (dx_hand_model_DW.obj_m.isInitialized == 1) {
24601 dx_hand_model_DW.obj_m.isInitialized = 2;
24602 }
24603
24604 /* End of Start for MATLABSystem: '<S230>/Get Parameter2' */
24605
24606 /* Start for MATLABSystem: '<S230>/Get Parameter3' */
24607 if (dx_hand_model_DW.obj_o.isInitialized == 1) {
24608 dx_hand_model_DW.obj_o.isInitialized = 2;
24609 }
24610
24611 /* End of Start for MATLABSystem: '<S230>/Get Parameter3' */
24612
24613 /* Start for MATLABSystem: '<S230>/Get Parameter1' */
24614 if (dx_hand_model_DW.obj_c.isInitialized == 1) {
24615 dx_hand_model_DW.obj_c.isInitialized = 2;
24616 }
24617
24618 /* End of Start for MATLABSystem: '<S230>/Get Parameter1' */
24619
24620 /* Start for MATLABSystem: '<S230>/Get Parameter4' */
24621 if (dx_hand_model_DW.obj_j.isInitialized == 1) {
24622 dx_hand_model_DW.obj_j.isInitialized = 2;
24623 }
24624
24625 /* End of Start for MATLABSystem: '<S230>/Get Parameter4' */
24626
24627 /* Start for MATLABSystem: '<S230>/Get Parameter5' */
24628 if (dx_hand_model_DW.obj_p2.isInitialized == 1) {
24629 dx_hand_model_DW.obj_p2.isInitialized = 2;
24630 }
24631
24632 /* End of Start for MATLABSystem: '<S230>/Get Parameter5' */
24633
24634 /* Start for MATLABSystem: '<S230>/Get Parameter6' */
24635 if (dx_hand_model_DW.obj_ca.isInitialized == 1) {
24636 dx_hand_model_DW.obj_ca.isInitialized = 2;
24637 }
24638
24639 /* End of Start for MATLABSystem: '<S230>/Get Parameter6' */
24640
24641 /* Terminate for Enabled SubSystem: '<S239>/Subsystem2' */
24642
24643 /* Terminate for ToFile: '<S310>/To File' */
24644 {
24645 FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK.FilePtr;
24646 if (fp != (NULL)) {
24647 char fileName[509] = "thumb_force.mat";
24648 if (fclose(fp) == EOF) {
24649 rtmSetErrorStatus(dx_hand_model_M,
24650 "Error closing MAT-file thumb_force.mat");
24651 return;
24652 }
24653
24654 if ((fp = fopen(fileName, "r+b")) == (NULL)) {
24655 rtmSetErrorStatus(dx_hand_model_M,
24656 "Error reopening MAT-file thumb_force.mat");
24657 return;
24658 }
24659
24660 if (rt_WriteMat4FileHeader(fp, 2 + 1, dx_hand_model_DW.ToFile_IWORK.Count,
24661 "forza_gravita")) {
24662 rtmSetErrorStatus(dx_hand_model_M,
24663 "Error writing header for forza_gravita to MAT-file thumb_force.mat");
24664 }
24665
24666 if (fclose(fp) == EOF) {
24667 rtmSetErrorStatus(dx_hand_model_M,
24668 "Error closing MAT-file thumb_force.mat");
24669 return;
24670 }
24671
24672 dx_hand_model_DW.ToFile_PWORK.FilePtr = (NULL);
24673 }
24674 }
24675
24676 /* End of Terminate for SubSystem: '<S239>/Subsystem2' */
24677
24678 /* Terminate for Enabled SubSystem: '<S1>/Thumb Exo Structure' */
24679
24680 /* Terminate for ToFile: '<S13>/To File' */
24681 {
24682 FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK_p.FilePtr;
24683 if (fp != (NULL)) {
24684 char fileName[509] = "exo_points.mat";
24685 if (fclose(fp) == EOF) {
24686 rtmSetErrorStatus(dx_hand_model_M,
24687 "Error closing MAT-file exo_points.mat");
24688 return;
24689 }
24690
24691 if ((fp = fopen(fileName, "r+b")) == (NULL)) {
24692 rtmSetErrorStatus(dx_hand_model_M,
24693 "Error reopening MAT-file exo_points.mat");
24694 return;
24695 }
24696
24697 if (rt_WriteMat4FileHeader(fp, 61 + 1,
24698 dx_hand_model_DW.ToFile_IWORK_l.Count, "points")) {
24699 rtmSetErrorStatus(dx_hand_model_M,
24700 "Error writing header for points to MAT-file exo_points.mat");
24701 }
24702
24703 if (fclose(fp) == EOF) {
24704 rtmSetErrorStatus(dx_hand_model_M,
24705 "Error closing MAT-file exo_points.mat");
24706 return;
24707 }
24708
24709 dx_hand_model_DW.ToFile_PWORK_p.FilePtr = (NULL);
24710 }
24711 }
24712
24713 /* End of Terminate for SubSystem: '<S1>/Thumb Exo Structure' */
24714
24715 /* Terminate for Atomic SubSystem: '<S14>/Publish1' */
24716 /* Start for MATLABSystem: '<S17>/SinkBlock' */
24717 if (dx_hand_model_DW.obj_jct.isInitialized == 1) {
24718 dx_hand_model_DW.obj_jct.isInitialized = 2;
24719 }
24720
24721 /* End of Start for MATLABSystem: '<S17>/SinkBlock' */
24722 /* End of Terminate for SubSystem: '<S14>/Publish1' */
24723
24724 /* Start for MATLABSystem: '<S4>/Get Parameter1' */
24725 if (dx_hand_model_DW.obj_b4.isInitialized == 1) {
24726 dx_hand_model_DW.obj_b4.isInitialized = 2;
24727 }
24728
24729 /* End of Start for MATLABSystem: '<S4>/Get Parameter1' */
24730
24731 /* Start for MATLABSystem: '<S24>/Get Parameter3' */
24732 if (dx_hand_model_DW.obj_l3.isInitialized == 1) {
24733 dx_hand_model_DW.obj_l3.isInitialized = 2;
24734 }
24735
24736 /* End of Start for MATLABSystem: '<S24>/Get Parameter3' */
24737
24738 /* Terminate for S-Function (sdspToNetwork): '<S10>/UDP Send' */
24739 sErr = GetErrorBuffer(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
24740 LibTerminate(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
24741 if (*sErr != 0) {
24742 rtmSetErrorStatus(dx_hand_model_M, sErr);
24743 rtmSetStopRequested(dx_hand_model_M, 1);
24744 }
24745
24746 LibDestroy(&dx_hand_model_DW.UDPSend_NetworkLib[0U], 1);
24747 DestroyUDPInterface(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);
24748
24749 /* End of Terminate for S-Function (sdspToNetwork): '<S10>/UDP Send' */
24750
24751 /* Start for MATLABSystem: '<S10>/Get Parameter1' */
24752 if (dx_hand_model_DW.obj_h.isInitialized == 1) {
24753 dx_hand_model_DW.obj_h.isInitialized = 2;
24754 }
24755
24756 /* End of Start for MATLABSystem: '<S10>/Get Parameter1' */
24757
24758 /* Start for MATLABSystem: '<S10>/Get Parameter3' */
24759 if (dx_hand_model_DW.obj_k.isInitialized == 1) {
24760 dx_hand_model_DW.obj_k.isInitialized = 2;
24761 }
24762
24763 /* End of Start for MATLABSystem: '<S10>/Get Parameter3' */
24764
24765 /* Terminate for Atomic SubSystem: '<S215>/Publish1' */
24766 /* Start for MATLABSystem: '<S219>/SinkBlock' */
24767 if (dx_hand_model_DW.obj_br.isInitialized == 1) {
24768 dx_hand_model_DW.obj_br.isInitialized = 2;
24769 }
24770
24771 /* End of Start for MATLABSystem: '<S219>/SinkBlock' */
24772 /* End of Terminate for SubSystem: '<S215>/Publish1' */
24773
24774 /* Start for MATLABSystem: '<S221>/Get Parameter3' */
24775 if (dx_hand_model_DW.obj_f.isInitialized == 1) {
24776 dx_hand_model_DW.obj_f.isInitialized = 2;
24777 }
24778
24779 /* End of Start for MATLABSystem: '<S221>/Get Parameter3' */
24780
24781 /* Start for MATLABSystem: '<S222>/Get Parameter3' */
24782 if (dx_hand_model_DW.obj_n.isInitialized == 1) {
24783 dx_hand_model_DW.obj_n.isInitialized = 2;
24784 }
24785
24786 /* End of Start for MATLABSystem: '<S222>/Get Parameter3' */
24787
24788 /* Start for MATLABSystem: '<S223>/Get Parameter3' */
24789 if (dx_hand_model_DW.obj_cd.isInitialized == 1) {
24790 dx_hand_model_DW.obj_cd.isInitialized = 2;
24791 }
24792
24793 /* End of Start for MATLABSystem: '<S223>/Get Parameter3' */
24794
24795 /* Start for MATLABSystem: '<S224>/Get Parameter3' */
24796 if (dx_hand_model_DW.obj_pa.isInitialized == 1) {
24797 dx_hand_model_DW.obj_pa.isInitialized = 2;
24798 }
24799
24800 /* End of Start for MATLABSystem: '<S224>/Get Parameter3' */
24801
24802 /* Start for MATLABSystem: '<S225>/Get Parameter3' */
24803 if (dx_hand_model_DW.obj_bm.isInitialized == 1) {
24804 dx_hand_model_DW.obj_bm.isInitialized = 2;
24805 }
24806
24807 /* End of Start for MATLABSystem: '<S225>/Get Parameter3' */
24808
24809 /* Start for MATLABSystem: '<S226>/Get Parameter3' */
24810 if (dx_hand_model_DW.obj_g1.isInitialized == 1) {
24811 dx_hand_model_DW.obj_g1.isInitialized = 2;
24812 }
24813
24814 /* End of Start for MATLABSystem: '<S226>/Get Parameter3' */
24815}
24816